在很多交通事故裡，車輛偏離應有的行徑路線佔有了很大的比例，因此解決不良的偏離車道行為就能避免掉大部分的交通意外，現今的研究則極力朝向車輛主動安全系統，其中車輛自動側向控制是相當重要的部份，而以影像為基礎的車輛輔助系統更是近幾年來發展的重點。
　　本論文為設計以影像為基礎之車道保持輔助系統，以CCD鏡頭為感應器擷取影像，擷取後的影像經過FIR濾波器後以取得道路特徵，其中以道路線為車道特徵，接著利用霍夫轉換和道路模型找到車道中心線離車輛控制點的偏離距離，然後設計相位領先落後補償器並且配合左右轉角角度回授得到方向盤輸出轉角，確保車輛保持在車道中心線行進，本研究將以清大動機係自行設計的先進智慧概念車來實現。

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