Road edge detection and tracking is a key technique for auto navigation of vehicle based on the information of road edge or road region. This paper presents pre knowledge based on human visual experience and prediction knowledge based on the kinematics equation of vehicle. With the selected road shape model

road edge detection and following for intelligent vehicle was executed by the combination of two modules. The road edge detection module is used to get the information about road edge when vehicle being started with the pre knowledge

while the edge following module is started to predict the position of road edge when vehicle running stably with the prediction knowledge

then two control equation parameters location and orientation deviation are calculated for auto navigation of vehicle based on preview unique visual. In the concluding

this paper analyzed the result of the real road tracking experimentation

which proved the effective and precise of the presented method.