This is an application for automatic steering.

Side line and center line (broken) are detected through front glass of  a vehicle

Detection process is composed of next several steps.
1.Get an image by using CCD camera.
2.Convert the image to binary image.
3.Get contour image through differential calculus.
4.Hough transform is executed.
5.Search peak point on Theta-Row space.
6.The position of First important line is decided.
7.Second, Third ..... important lines are decided.