The embedded driving-assistance system on taiwan iTS-1

Bing Fei Wu*, Hsin Han Chiang, Tsu Tian Lee, Jau Woei Perng

*Corresponding author for this work

Research output: Contribution to journalConference articlepeer-review

2 Citations (Scopus)


Vehicle automation is an important research topic of advanced vehicle systems (AVS). Taiwan iTS-1 is the first smart car with autonomous driving in Taiwan. In this paper, an embedded driving-assistance system is presented. The definition of hierarchical-control structure is necessary in the system to deal with sensorial inputs and environmental and procedural knowledge to manage vehicle actuators in order to accomplish various driving tasks. Upper-level control perceives road environment and determines the proper and safe operation modes including lane-keeping, lane-change, cruise control, adaptive cruise control, and stop-and-go. In each mode, the desired-velocity and reference-trajectory are primarily determined, and then are forwarded to vehicle-body control. To incorporate well driver behavior into our system, vehicle-body control utilizes the fuzzy control technique to manage the fundamental actuators of vehicle, steering wheel, throttle, and brake, to adapt to the desired command (velocity and trajectory). The core controller is built-in on a DSP-based embedded computing platform. The aim of our system is to provide the driving-assistance in the same way human drivers do.

Original languageEnglish
Article number4811820
Pages (from-to)3382-3387
Number of pages6
JournalConference Proceedings - IEEE International Conference on Systems, Man and Cybernetics
Publication statusPublished - 2008
Externally publishedYes
Event2008 IEEE International Conference on Systems, Man and Cybernetics, SMC 2008 - Singapore, Singapore
Duration: 2008 Oct 122008 Oct 15


  • Automotive
  • Driving-assitance
  • Embedded system
  • Intelligent transportation systems (ITS)
  • Vehicle automation

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Control and Systems Engineering
  • Human-Computer Interaction


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