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Knowing where the host lane lies is paramount to the effectiveness of many advanced driver assistance systems (ADAS), such as lane keep assist (LKA) and adaptive cruise control (ACC). This paper presents an approach for improving lane detection based on the past trajectories of vehicles. Instead of expensive high-precision map, we use the vehicle trajectory information to provide additional lane-level spatial support of the traffic scene, and combine it with the visual evidence to improve each step of the lane detection procedure, thereby overcoming typical challenges of normal urban streets. Such an approach could serve as an Add-On to enhance the performance of existing lane detection systems in terms of both accuracy and robustness. Experimental results in various typical but challenging scenarios show the effectiveness of the proposed system.