Examples of techniques for controlling a vehicle using an anchor line are disclosed. In one example implementation, a computer-implemented method includes receiving a lane line quality indicator from a camera associated with a vehicle. The method further includes determining a lane line weight. The method further includes comparing the lane line quality indicator to a quality threshold to determine whether the lane line is of sufficient quality to use as an anchor line. The method further includes comparing the lane line weight to a confidence threshold to determine whether the lane line is of sufficient confidence to use as the anchor line. The method further includes, responsive to determining that at least one of the lane line is not of sufficient quality and the lane line is not of sufficient weight, generating an alternate anchor line. The method further includes controlling the vehicle using the alternate anchor line.