The automated lane-keeping design for an intelligent vehicle

Shinq Jen Wu*, Hsin Han Chiang, Jau Woei Perng, Tsu Tian Lee, Chao Jung Chen

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contribution

36 Citations (Scopus)


In this paper, a vision-based lane-keeping automated steering system is proposed and is successfully verified in our vehicle platform, TAIWAN /TS-1. The proposed steering system can achieve the accurate detection of the complicated road environment information; and more, the closed-loop automated lane-keeping steering system with virtual look-ahead is stable under varying speed operation. Furthermore, to achieve more manlike driving behavior such as smooth tuning, a fuzzy gain schedule technology is proposed to concern with lateral offset and instant-speed of the vehicle, and hence, to compensate the feedback controller for adapting to the steering wheel command appropriately. The proposed steering system is demonstrated via TAIWAN iTS-1 on the standard testing road in Automotive Research and Testing Center (ARTC) and highway road.

Original languageEnglish
Title of host publication2005 IEEE Intelligent Vehicles Symposium, Proceedings
Number of pages6
Publication statusPublished - 2005
Externally publishedYes
Event2005 IEEE Intelligent Vehicles Symposium - Las Vegas, NV, United States
Duration: 2005 Jun 62005 Jun 8

Publication series

NameIEEE Intelligent Vehicles Symposium, Proceedings


Other2005 IEEE Intelligent Vehicles Symposium
Country/TerritoryUnited States
CityLas Vegas, NV


  • Automated lane-keeping
  • Fuzzy gain scheduling
  • Intelligent vehicle
  • Vehicle lateral control
  • Vision-based

ASJC Scopus subject areas

  • Modelling and Simulation
  • Automotive Engineering
  • Computer Science Applications


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