T.T.: The heterogeneous systems integration design and implementation for lane keeping on a vehicle. Intelligent Transportation Systems

Abstract—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 lat-eral 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 appear-ance, 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 man-ual tuning by trial and error, the methodology of FGS is designed to ensure that the closed-loop system can satisfy the crossove