1. A method of detecting a lane marker comprising: modeling the lane marker, in the range of a minimum predetermined lane marker width to a maximum predetermined lane marker width; splitting the lane marker model into a left step and a right step, wherein the right step has a negative value of a left step value; calculating a cumulative sum (S k ) from the lane marker model, wherein k is a kth pixel; calculating a filter response from the cumulative sum; and normalizing the filter response comprising compensating for at least one of filter pixel scale size and illumination, wherein compensating for illumination comprises normalizing for illumination by apparent brightness of the lane marker and apparent brightness of a road on which the lane marker is located.