Aiming　at　implementing　the　lane　recognition　and　determining　the　host　vehicle＇s　parameters　of　position　and　direction　accurately　according　to　lane　line　parameters,　realize　the　lane　departure　warning,　one　kind　of　practical　algorithm　for　lane　recognition　and　the　host　vehicle　localization　has　been　proposed.　In　the　algorithm,　lane　parameters　are　obtained　using　Hough　Transformation.　Combined　the　inner　and　outer　parameters　of　CCD　and　lane　parameters,　the　parameters　such　as　the　host　vehicle＇s　location　parameter,　the　direction　variable　and　the　lane　width　are　obtained　using　the　coordinate　transformation.　The　experiments　indicated　that　this　algorithm　has　the　good　adaptive　ability　and　anti-jamming　ability　when　roadway　structure　and　illumination　condition　changes.　It　can　satisfy　many　kinds　of　initiative　safety　system＇s　requests　in　a　certain　extent.