PURPOSE: A system and method for warning a lane departure are provided to accurately recognize a lane by including a lane recognition region setting system and a lane sort and color recognition system. CONSTITUTION: An image sensing unit(101) senses a plurality of images. An edge extracting unit(106) emphasizes an edge element required for recognizing a lane and extracts the emphasized edge element. A lane recognizing unit(108) detects a linear element from the extracted edge element. A lane sort determining unit(110) determines a lane sort. A lane color detecting unit(111) detects the color of the lane from an image signal value. A lane pattern generating unit(113) generates a lane pattern. A lane departure determining unit(114) determines the lane departure of a vehicle.
