中文摘要：

本文首先介绍了目前国内外比较先进的车道偏离预警系统,并详细描述了它们的组成结构和工作原理等。通过分析总结得出车道偏离预警系统的主要研究内容集中在两方面：道路视觉感知算法和车道偏离决策算法,分别对这两种典型算法的研究现状进行了详细的阐述,介绍了其中典型的预警决策模型,并通过对比分析,总结了不同模型的优缺点。最后就车道偏离预警系统的研究方向给出了建设性的意见。

英文摘要：

This paper firstly introduces the relatively advanced lane departure warning system, and describes their structure, working principle and so on. Through the analysis of lane departure warning system, the main research contents are obtained： road visual perception algorithm and lane departure decision-making algorithm. Then this paper discusses present research situation of the two kinds of algorithm in detail, and summarizes the advantages and disadvantages of different algorithms by the contrast analysis. Finally, some constructive comments about the research direction of lane departure warning system are given.