geometric models for lane detection and tracking

Hi, I have searched geometric models (e.g.: straight line, circular arc, polinomals, splines etc.) to make some assumptions about the road’s structure. After I define model, I will fit the extracted features with the geometric model by using different methods like Least Squares Method, Least Median Squares, RANSAC etc. As a start, I will use straight line for highway scenario and then continue with others (e.g.: spline models for curves). I understand the general idea. I am looking for a clue about how to implement geometric lane models in OpenCV or C++. Any suggestions? Regards, Suleyman