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In this paper, we introduce a synergistic approach to integrated lane and vehicle tracking for driver assistance. The approach presented in this paper results in a final system that improves on the performance of both lane tracking and vehicle tracking modules. Further, the presented approach introduces a novel approach to localizing and tracking other vehicles on the road with respect to lane position, which provides information on higher contextual relevance that neither the lane tracker nor vehicle tracker can provide by itself. Improvements in lane tracking and vehicle tracking have been extensively quantified. Integrated system performance has been validated on real-world highway data. Without specific hardware and software optimizations, the fully implemented system runs at near-real-time speeds of 11 frames per second.