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This paper presents a vehicle to road tracking algorithm based on vision sensor by using Extended Kalman Filter (EKF) from which outputs [i.e. lateral offset, heading angle relative to lane, road width, and road curvature, so called, VRTP (Vehicle to Road Tracking Parameter)] might be used as inputs to steering controller of lane keeping assist system or for smart warning decision logic of lane departure warning system among automotive driver assistance systems. The proposed approach makes use of lane marking pixel coordinates on image plane extracted from a kind of lane detection algorithm, together with yaw rate, steering angle and velocity measurements.