PURPOSE: A lane departure warning system and a system thereof are provided to supply lane departure information to a driver by warning it based on a virtual lane which is estimated by using the concept of a virtual lane.;CONSTITUTION: A camera part(200) generates an image. An image processing part recognizes a lane from an image during a driving process. The image processing part(240) transmits an alarm signal when a vehicle veers off the recognized lane. The image processing part determines whether a vehicle veers a lane by generating a virtual lane when a lane is not recognized. A virtual lane generating part(244) generates a virtual lane in an opposite side which is spaced apart based on either a left lane or a right lane. A road lane recognition part(241) recognizes a lane from an image. A road lane recognition determining part(242) determines whether a lane is recognized based on a predetermined lane condition.;COPYRIGHT KIPO 2011
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