Automobile accidents cost over a trillion-dollar every year and this figure will continue increasing without employing new technological solutions. Among these solutions, the automated lane-keeping system is one of the promising ones and such a system consists of two essential technologies: road detection and steering control. In this paper, novel lane keeping algorithms are proposed and are implemented using only a single off-the-shelf wide-angle camera as input. The implemented system is verified, through both simulation and experiments, and is found providing satisfactory performance for an automated lane-keeping system. When compared to the state-of-the-art lane-keeping systems, the implemented system can perform consistently across various ambient light conditions including the most challenging ones.