Patent ID: 8279280

Claim:
A lane departure warning system of a vehicle, comprising: a camera unit for generating an image; an image processing unit for generating a detected lane-dividing line from the image, and generating a virtual lane-dividing line when the detected lane-dividing line has not been generated or has been erroneously generated; and a warning unit for giving a warning to a passenger of the vehicle according to a decision that the vehicle is deviating from a driving lane, the decision is made on the basis of the detected lane-dividing line and the virtual lane-dividing line wherein a lane detection module for generating the detected lane-dividing line from the image; a lane detection determination module for determining whether the detected lane-dividing line has been generated to the satisfaction of preset lane conditions; and a lane width calculation module for calculating the width of the lane using information about the detected lane-dividing line satisfying the preset lane conditions wherein the lane width calculation module determines a pitch angle between a road surface and the camera using a vanishing point at which the left lane-dividing line and the right lane-dividing line intersect each other, calculates a per-pixel distance using the pitch angle, and sets the lane width to a value obtained by multiplying the per-pixel distance by a number of pixels corresponding to the lane width.