This paper presents a comprehensive mathematical simulation for the trajectory of a vision-based autonomous vehicle during moving between lane lines of the structured road. The simulation accomplished by using MATLAB/Simulink software. This simulation mimics the existence of an actual digital camera by using a novel 3D-vision block to simulate the
actual images that assumed to be provided by a digital camera connected to an embedded computer. The 3D-vision block uses mathematical equations, execution sequence and logical conditions to create a virtual captured image. So, this virtual image is then used to detect the lane in the front of the vehicle depending on the virtual camera position and its parameters. Inside simulation environment that based on the kinematic model of the vehicle and vision model, the controller has been designed that will be coded in the embedded computer. Several evaluations are shown and discussed about the lane detection and 3D vision simulation.