Abstract: Lane detection and warning is an important ingredient of intelligent vehicle vision navigation system. In order to enhance the realtime of lane detection, a method based on Hough Transform (HT ) of limited region is proposed. Firstly， deviding limited region by angle and range constraints of lane， and then, if there is eligible lane in the region, dynamic region of interest (ROI) is established, as a result region of HT is minimized and the total edge points is further reduced. With the different illumination situation, adopting corresponding selfadaptive measure in image preprocessing according to average gray, a result the noise immunity of algorithm is improved. The experiment results show that the approach has good realtime and noise immunity for the structured highway.

Key words: lane detection, limited region, Hought Transform, region of interest