This paper presents a new way of controlling intelligent vehicles for lateral maneuvers, which include lane following and lane changing maneuvers. Previously, separate controllers for lane following maneuvers and lane changing maneuvers were developed and implemented. When the maneuvers were switched from lane changing maneuvers to lane following maneuvers and vice versa, the two controllers need to be switched. However, the switching showed several problems including jerky transient responses. In order to overcome these problems, the unified lateral control algorithm is proposed.