The heterogeneous systems integration design and implementation for lane keeping on a vehicle

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

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

121 Citations (Scopus)


In this paper, an intelligent automated lane-keeping system is proposed and implemented on our vehicle platform, i.e., TAIWAN iTS-1. This system challenges the online integrating heterogeneous systems such as a real-time vision system, a lateral controller, in-vehicle sensors, and a steering wheel actuating motor. The implemented vision system detects the lane markings ahead of the vehicle, regardless of the varieties in road appearance, and determines the desired trajectory based on the relative positions of the vehicle with respect to the center of the road. To achieve more humanlike driving behavior such as smooth turning, particularly at high levels of speed, a fuzzy gain scheduling (FGS) strategy is introduced to compensate for the feedback controller for appropriately adapting to the SW command. Instead of manual tuning by trial and error, the methodology of FGS is designed to ensure that the closed-loop system can satisfy the crossover model principle. The proposed integrated system is examined on the standard testing road at the Automotive Research and Testing Center (ARTC)1 and extraurban highways.

Original languageEnglish
Article number4538013
Pages (from-to)246-263
Number of pages18
JournalIEEE Transactions on Intelligent Transportation Systems
Issue number2
Publication statusPublished - 2008 Jun
Externally publishedYes


  • Automated steering control
  • Crossover principle model
  • Fuzzy gain scheduling (FGS)
  • Lane keeping
  • Lateral vehicle control
  • Vision system

ASJC Scopus subject areas

  • Automotive Engineering
  • Mechanical Engineering
  • Computer Science Applications


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