Lane Departure Warning System (LDWS) is used to lessen the road traffic accidents by warning the driver as soon as the vehicle begins to unintentionally drift out of its driving lane. In this book, a real-time and calibration-free lane departure warning system algorithm is proposed. The pre-processing stage of the lane departure algorithm is carried out using Gaussian pyramid to smooth the image and reduce its dimensions, which decrease the unnecessary details in the image. A lane detection stage is then developed based on Edge Drawing Lines (EDLines) algorithm that is a real-time line segment detector, which has false detection control. The reference-counting technique is used to track the lane boundaries and predict the missing ones. Experimental results show that the proposed algorithm has accuracy of 99.36% and average processing time of 80 frames per second (fps). The proposed algorithm is efficient to be used in the self-driving systems in the Original Equipment Manufacturers (OEMs) cars that are composed of either AUTOSAR-based or non-AUTOSAR-based ECUs.