Abstract
In this paper, the authors introduce a lane detection system to detect a lateral deviation for the Intelligent Multimode Transit System (IMTS) which TOYOTA has been developing as a new transit system. In the IMTS which is based on an automated vehicle control system, magnetic markers embedded in a center of a lane are used for a lane-guide and the lane detection sensor has to detect them completely under the circumstances such as fallen snow, rain, dust and so on. The accuracy and the reliability of the lane detection sensor could be kept enough quality for the IMTS because of both utilizing the spatial filter in the process logic and adopting a hardware construction of processing unit with no software.