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This study presents an effective vehicle detection and tracking approach to deal with forward collision warning (FCW) system. Based on robust lane-marking tracking and vanishing point, a regions of interest (ROI) is created for detecting whether vehicle in the front. The proposed method is implemented in TI DM648 DSP embedded system, and get very good result in the highway. In particular, when the rapid change of the input image color temperature, and road marking can still be ongoing tracking, therefore shows that the presented algorithm is very robust and stable.