Yong Zhou Rong Xu Xiaofeng Hu Qingtai Ye A Lane Departure Warning System Based on Virtual Lane Boundary. 293-305 2008 24 J. Inf. Sci. Eng. 1 http://www.iis.sinica.edu.tw/page/jise/2008/200801_19.html db/journals/jise/jise24.html#ZhouXHY08