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In this paper, we aim at developing a system-on-chip, SoC, which can capture image as well as produce vehicle lane map at the same time. We adopt peak-finding based lane detection algorithm that can achieve high recognition rate about 96% even under various weather conditions. The features of the proposed SoC are a single low-cost and compact chip which implements the lane detection algorithm with mixed signal mode CMOS image sensor. Therefore, it can be easily used in thousands of consumer electronics for applications.