A New Lane Departure Warning Algorithm Considering the Driver’s Behavior Characteristics

Table 2

Thresholds and criteria for identifying vehicle movement.

Movement type	Variable	Threshold
Lane change	Lateral position	1.8 m~5.4 m
	Heading angle	>3°
Turn	Heading angle	>30°
	Radius of curvature	<42 m
Curve	Heading angle	<30°
	Radius of curvature	>42 m