Lane departure warning system, lane identification apparatus and related method thereof

A lane departure warning method, comprising:

• referring to a drive video to identify a plurality of lane lines corresponding to one lane and accordingly generating an identification result, wherein the identification result is generated based on specific borderlines of the lane lines;
• determining a determination strategy according to vehicle speed information, and generating a determination result, which indicates whether lane departure occurs, according to the determination strategy and the identification result, comprising:
• when the vehicle speed information indicates that a speed of a vehicle is within a first speed range, selecting an aggressive determination strategy;
• and
• when the vehicle speed information indicates that the speed of the vehicle is within a second speed range which is different from the first speed range, selecting a defensive determination strategy, wherein compared with the defensive determination strategy, the aggressive determination strategy makes the determination result which indicates the vehicle has departed from lane generated when the identification result indicates fewer identified lanes;
• and
• determining whether to issue a warning according to the determination result.

A lane departure warning method, comprising:

• referring to a video to identify at least one lane line corresponding to one lane and accordingly generating an identification result, wherein the identification result is generated based on specific borderlines of the at least one lane line;
• determining a determination strategy according to vehicle speed information, and generating a determination result, which indicates whether lane departure occurs, according to the determination strategy and the identification result, comprising:
• when the vehicle speed information indicates that a speed of a vehicle is within a first speed range, selecting an aggressive determination strategy;
• and
• when the vehicle speed information indicates that the speed of the vehicle is within a second speed range which is different from the first speed range, selecting a defensive determination strategy, wherein compared with the defensive determination strategy, the aggressive determination strategy makes the determination result which indicates the vehicle has departed from lane generated when the identification result indicates fewer identified lanes;
• and
• determining whether to issue a warning according to the determination result.