Development ofanInteractive LaneKeeping Control System forVehicle

UWiththeenhancement ofpeople's living level andrapid development ofauto-electronics technology, vehicle safety has attracted moreandmoreattention inrecent years.The automotive industry worldwideis enthusiastic about developing advanced driver assistance systems, suchaslane departure warning (LDW), lanekeeping (LK)andforward R collision warning(FCW),etc., to make a substantial improvement indriving safety. Previous studies [1,2] .~~~~~~~~~~~~~~~~~~~~~~~~~~~~ ..i indicated that over9000oftraffic accidents resulted from humanerrors andnearly 60%ofroadfatalities wereinrelation tounintended lanedepartures. Theseaccidents represent a considerable amountofsocial costs, overbillions Euros, fora country. Hence, overtheyears, manyinvestigations have beendoneonthelanedeparture warning system withthe