Aiming at the robust and real time problems of lane detection in the visual navigation system of intelligent vehicles,a robust lane detection and tracking method is proposed for the structured road.Firstly,the lane marking pixels are reliably detected by fusing the lane edge image with the simplified Sobel algorithm and the lane segmentation image with the improved Otsu method.Secondly,the iterative least square method is proposed for fitting the lane markings and removing the non-lane markings.Then the lan...