Road tracking , tracking vehicles and road lines

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Hello, I have to do road tracking(+ vehicle), but I really dont know how to best mark 1. What is road and what not. 2. What are road lines and where is vehicle heading. Do you have any ideas, method or process how to do it?! Im new in image processing. I use Prosilica 1290C colored CCD camera. It supports BGR,RGB,YUV,Mono,... Im talking about something like this: http://www.youtube.com/watch?v=ipXQFcAeovk http://www.youtube.com/watch?feature=endscreen&v=JmxDIuCIIcg&NR=1