A system and method for providing lane sensing on a vehicle by detecting roadway lane-markers, where the system employs multiple cameras providing images around the vehicle. The method includes detecting left-side and right-side lane boundary lines in the camera images, and then determining whether the lane boundary lines in the images are aligned from one image frame to a next image frame and are aligned from image to image. If the boundary lines are not aligned, then calibration of one or more of the cameras is performed, and if the lines are aligned, then a model fitting process is used to specifically identify the location of the boundary lines on the roadway.