A new method of white road line recognition is proposed. The method is to use both low and high spatial frequency image data to detect white road lines. Lane region is detected using low spatial frequency data. Contours of white lines are determined from high spatial frequency data. The contours are evaluated by the lane region.White road lines are accurately detected from 5m to 40m in front of the vehicle at a detection rate of more than 99.4%. It also detects vehicle pitch angle with the error of 0.02°.