An advanced driver assistance system for a vehicle, the advanced driver assistance system being configured to detect lane markings in a perspective image of a road in front of the vehicle, the perspective image defining a vanishing point and, wherein the advanced driver assistance system comprises: a stereo camera configured to provide the perspective image of the road in front of the vehicle as a stereo image having a first channel and a second channel, and wherein a position of the vanishing point depends upon a road curvature and a position and/or orientation of the stereo camera relative to the road; a feature extraction unit configured to extract a plurality of features, in particular lane markings, from the perspective image for generating a set of feature coordinates, in particular lane marking coordinates, wherein the set of feature coordinates defines respective positions of the plurality of features in the perspective image; and a processing unit configured to generate a plurality of pairs of feature coordinates that are consistent with a fitting model based on a RANSAC algorithm, wherein each pair of feature coordinates defines a straight line, and to estimate a lane curvature using the fitting model based on the RANSAC algorithm on the basis of a subset of the plurality of pairs of feature coordinates that are consistent with the RANSAC algorithm, wherein for each pair of feature coordinates of the subset of the plurality of pairs of feature coordinates a straight line defined by the pair of feature coordinates intersects a predefined target portion of the perspective image, wherein the predefined target portion defines an area of the perspective image where a plurality of possible positions of the vanishing point can appear; and wherein, the processing unit is configured to exclude one or more pairs of feature coordinates of the plurality of pairs of feature coordinates from the subset of the plurality of features used in estimation of the lane curvature by the RANSAC algorithm, wherein for each pair of excluded feature coordinates of the one or more pairs of feature coordinates a straight line defined by the pair of feature coordinates does not intersect the predefined target portion; and wherein the processing unit is configured to estimate the lane curvature on the basis of the subset of the plurality of pairs of feature coordinates that are consistent with the fitting model based on the RANSAC algorithm by performing the following steps: randomly selecting n pairs of feature coordinates, wherein n is the minimum number needed to generate the fitting model; generate the fitting model on the basis of the n pairs of feature coordinates; counting the number of pairs of feature coordinates consistent with this fitting model; and repeating the previous steps until the fitting model consistent with a large number of pairs of feature coordinates is found. a stereo camera configured to provide the perspective image of the road in front of the vehicle as a stereo image having a first channel and a second channel, and wherein a position of the vanishing point depends upon a road curvature and a position and/or orientation of the stereo camera relative to the road; a feature extraction unit configured to extract a plurality of features, in particular lane markings, from the perspective image for generating a set of feature coordinates, in particular lane marking coordinates, wherein the set of feature coordinates defines respective positions of the plurality of features in the perspective image; and a processing unit configured to generate a plurality of pairs of feature coordinates that are consistent with a fitting model based on a RANSAC algorithm, wherein each pair of feature coordinates defines a straight line, and to estimate a lane curvature using the fitting model based on the RANSAC algorithm on the basis of a subset of the plurality of pairs of feature coordinates that are consistent with the RANSAC algorithm, wherein for each pair of feature coordinates of the subset of the plurality of pairs of feature coordinates a straight line defined by the pair of feature coordinates intersects a predefined target portion of the perspective image, wherein the predefined target portion defines an area of the perspective image where a plurality of possible positions of the vanishing point can appear; and wherein, the processing unit is configured to exclude one or more pairs of feature coordinates of the plurality of pairs of feature coordinates from the subset of the plurality of features used in estimation of the lane curvature by the RANSAC algorithm, wherein for each pair of excluded feature coordinates of the one or more pairs of feature coordinates a straight line defined by the pair of feature coordinates does not intersect the predefined target portion; and wherein the processing unit is configured to estimate the lane curvature on the basis of the subset of the plurality of pairs of feature coordinates that are consistent with the fitting model based on the RANSAC algorithm by performing the following steps: randomly selecting n pairs of feature coordinates, wherein n is the minimum number needed to generate the fitting model; generate the fitting model on the basis of the n pairs of feature coordinates; counting the number of pairs of feature coordinates consistent with this fitting model; and repeating the previous steps until the fitting model consistent with a large number of pairs of feature coordinates is found.