Abstract: Lane detection is an important part of advanced driver assistance systems. In this paper, we processed the video in real-time for achieving real-time detection of structured lane. Firstly we used horizontal Sobel operator for enhancing the edge in the area that we needed to process. And then we used LSD (Line Segment Detector) algorithm to extract lines set,which included the representative of the lane markings. The line angle and relative position were used to filter line set, and combined with the number of stable frame to select the best candidate of lane markings.