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The Driver Assistance System (DAS) is important to assist drivers with driving safety and efficiency. The Lane Departure Warning System (LDWS), being an essential portion within the DAS, aims at providing warning messages under irregular driving behaviors due to distraction, drowsiness, or driver negligence. As the developments of mobile devices are boosted vigorously, it becomes more feasible to integrate sensing, photographing and displaying components within the LDWS. In this paper, the Pitch-Aided Lane Tracking (PALT) algorithm is proposed to detect and track the lanes on the roadways base on the particle filter.
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