The Road Departure Mitigation (RDM) system uses image information from the multipurpose camera to recognize the lane markings on the road. The multipurpose camera unit monitors the lane markings and detects risks of the vehicle moving out of its lane. When the unit determines that the vehicle begins to move out of its lane, the unit warns the driver by vibrating the steering wheel, showing a road-departure warning image on the multi information display (MID) and also provides steering control to assist steering the vehicle back in its lane to prevent the vehicle from moving out of its lane. When the multipurpose camera unit determines that steering control is not sufficient to prevent the vehicle moving out if its lane and the approaching lane marking on the road is indicated as a solid line, the unit also provides a brake control to assist decelerating the vehicle. When the vehicle goes out of a lane or the multipurpose camera unit determines that the vehicle begins to move out of its lanes for the third time after moving out of its lane twice in a row without the driver's steering action, the unit warns the driver with only an MID warning image and a buzzer sound without providing steering control.