In Intelligent Transportation Systems, Advanced Vehicle Control and Safety System are one of the most important researches around the world. AVCSS is a technique applied on vehicle and is composed by sensor, computer, communication, and control. In order to keep driver safe, the technique covered Collision Avoidance, Longitudinal Automated Control, Lateral Automated Control, Automated Parking, etc, and Collision Avoidance, Longitudinal Automated Control, Lateral Automated Control are most important. This thesis implemented the Lateral Automated Control by using a CCD camera to extract the road environment. And I presented and analyzed lane detection about structured road and unstructured road. The structured road stands for its obvious lane mark such as general road and freeway; and the unstructured road stands for its unobvious lane mark or without lane mark such as country road and campus road. Because of the characteristic of lane mark, the structured road is easier to detect, and there were less research about unstructured road around the world. So this thesis focused on the unstructured lane detection, and implemented multi-system on DSP (Digital Signal Process). Finally, we applied intelligent control system to vehicle and successfully guided the vehicle in structure and unstructured road.