Lane Detection is the fundamental vehicle driving system and self-driving. The proposed concept is to employ the pixel difference in the expected lane and the road backdrop to detach the lane from the road, and then the Curve fitting model is made use of in the segregated lanes to locate the straight line in the image as the lane line. This paper offers a lane detection method based on the Sobel filter and Curve-fitting model for lane line tracking in different conditions. The main objective is to improve the accuracy of the Xi’an city database and the KITTI vision benchmark suite dataset. To achieve this HLS color space was performed which identifies the lane by adding pixel values.