Mohammad Saniee - Department of Computer Engineering, Sharif University of Technology, Tehran, Iran
Mansour Jamzad - Department of Computer Engineering, Sharif University of Technology, Tehran, Iran
Jafar Habibi - Department of Computer Engineering, Sharif University of Technology, Tehran, Iran

A real-time collision warning system based on TLC1 computation is proposed. Multi-frame lane detection and analysis are adopted so that the TLC calculation algorithm is more reliable. Lane departure is analyzed and vehicle coordination is estimated. These parameters can be used in an intelligent vehicle for warning or lateral control. Experimental results show that the proposed algorithm, calculates TLC acceptably.

Computer Vision, Time to Lane Crossing, Collision Warning System, Intelligent Vehicle