Automatic road segmentation plays an important role in many vision-based traffic applications. It provides a priori information for preventing the interferences of irrelevant objects, activities, and events that take place outside road areas. The proposed road segmentation method consists of four major steps: background-shadow model generation and updating, moving object detection and tracking, background pasting, and road location. The full road surface is finally recovered from the preliminary one using a progressive fuzzytheoretic shadowed sets technique. A large number of video sequences of traffic scenes under various conditions have been employed to demonstrate the feasibility of the proposed road segmentation method.