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Vehicles queue detection in intersection is an important component of the intelligent transportation system. The traditional detection methods are vulnerable to background noise and perspective effect of traffic image, and their implementation are based on the structure of serial processor, which is hard to meet the real-time processing requirements of visual applications. Thus, take advantage of the geometry characteristics of flat road, this paper develops a novel vehicles queue detection algorithm suitable for FPGA implementation. It firstly eliminates the geometric distortion of image sequence using inverse perspective mapping method, and detects the lane markers by introducing in structural constraints of road; on this basis, it extracts the contours of vehicles queue using Sobel algorithm and determines the queue tail by adopting a kind of measurement based on entropy. Moreover, the hardware architecture design in FPGA makes the entire algorithm achieve real-time processing speed. #$NLKeywords: Inverse Perspective Mapping (IPM); field-programmable gate array (FPGA); lane markers identification; vehicles queue; Sobel operator