A method of determining extrinsic parameters of a vehicle vision system, said vehicle vision system comprising a camera (2, 3) installed in a vehicle, said method comprising: processing at least one image (30, 40, 41) of a road captured by said camera (2, 3) to identify plural road lane markings (21-23; 31-33) in said at least one image (30, 40, 41), said plural road lane markings (21-23; 31-33) extending parallel to each other in a road plane; determining, for each road lane marking (21-23; 31-33) of said plural road lane markings (21-23; 31-33), a first set of parameters defining an orientation and position of a line (34-36; 44-46; 47, 48) along which the road lane marking (21-23; 31-33) extends in an image plane; and a second set of parameters defining an orientation and position of a line (21'-23') along which the road lane marking (21-23; 31-33) extends in said road plane, characterized in that said second set of parameters being determined based on information on a spacing (58, 59) of said road lane markings (21-23; 31-33) in said road plane; and that said method further comprises: identifying a linear transformation which, for each one of the plural road lane markings (21-23; 31-33), defines a mapping between said first set of parameters and said second set of parameters; and establishing said extrinsic parameters based on said identified linear transformation, said established extrinsic parameters defining at least an orientation of a characteristic axis of said camera (2, 3) in a vehicle coordinate system of said vehicle. processing at least one image (30, 40, 41) of a road captured by said camera (2, 3) to identify plural road lane markings (21-23; 31-33) in said at least one image (30, 40, 41), said plural road lane markings (21-23; 31-33) extending parallel to each other in a road plane; determining, for each road lane marking (21-23; 31-33) of said plural road lane markings (21-23; 31-33), a first set of parameters defining an orientation and position of a line (34-36; 44-46; 47, 48) along which the road lane marking (21-23; 31-33) extends in an image plane; and a second set of parameters defining an orientation and position of a line (21'-23') along which the road lane marking (21-23; 31-33) extends in said road plane, a first set of parameters defining an orientation and position of a line (34-36; 44-46; 47, 48) along which the road lane marking (21-23; 31-33) extends in an image plane; and a second set of parameters defining an orientation and position of a line (21'-23') along which the road lane marking (21-23; 31-33) extends in said road plane, characterized in that said second set of parameters being determined based on information on a spacing (58, 59) of said road lane markings (21-23; 31-33) in said road plane; and that said method further comprises: identifying a linear transformation which, for each one of the plural road lane markings (21-23; 31-33), defines a mapping between said first set of parameters and said second set of parameters; and establishing said extrinsic parameters based on said identified linear transformation, said established extrinsic parameters defining at least an orientation of a characteristic axis of said camera (2, 3) in a vehicle coordinate system of said vehicle. identifying a linear transformation which, for each one of the plural road lane markings (21-23; 31-33), defines a mapping between said first set of parameters and said second set of parameters; and establishing said extrinsic parameters based on said identified linear transformation, said established extrinsic parameters defining at least an orientation of a characteristic axis of said camera (2, 3) in a vehicle coordinate system of said vehicle.