This paper presents a camera-based lane departure warning system implemented on a field programmable gate array\r\n(FPGA) device. The system is used as a driver assistance system, which effectively prevents accidents given that it is\r\nendowed with the advantages of FPGA technology, including high performance for digital image processing\r\napplications, compactness, and low cost. The main contributions of this work are threefold. (1) An improved vanishing\r\npoint-based steerable filter is introduced and implemented on an FPGA device. Using the vanishing point to guide\r\nthe orientation at each pixel, this algorithm works well in complex environments. (2) An improved vanishing\r\npoint-based parallel Hough transform is proposed. Unlike the traditional Hough transform, our improved version\r\nmoves the coordinate origin to the estimated vanishing point to reduce storage requirements and enhance detection\r\ncapability. (3) A prototype based on the FPGA is developed. With improvements in the vanishing point-based\r\nsteerable filter and vanishing point-based parallel Hough transform, the prototype can be used in complex weather\r\nand lighting conditions. Experiments conducted on an evaluation platform and on actual roads illustrate the effective\r\nperformance of the proposed system.
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