The lane departure system is a safe assisted driving system. Aiming at the shortage of real-time performance of the traditional lane deviation warning system

a real-time lane deviation warning system based on improved Sobel algorithm and Hough transform to identify lane lines is designed. The road image captured by the camera is processed by the improved Sobel algorithm

and the pixel information of the lane line edge can be obtained faster. Then the Hough transform is used to connect the effective edge pixels to determine the lane line position. Finally

the lane deviation warning and determination are realized by the matching degree with the early warning decision module. System test performance is good.