Lane detection, lane tracking, or lane departure warning have been the earliest components of vision-based driver-assistance systems. They have been designed and implemented for situations defined by good viewing conditions and clear lane markings on highways. Since those early days in the 1990s, visual lane analysis remains an ongoing research subject [5,17,23,26], with a focus on particular subjects such as accuracy for selected challenging con¬ditions, robustness for a wide range of scenarios, time efficiency, or integration into higher-order tasks.