This paper describes algorithms of path generation and lateral control of an automated vehicle with a vision system for autonomous navigation and lanechange maneuvers. The vision system detects reference lines along which the vehicle is guided. The lateral control consists of steps of reference line detection, path generation, and lateral control calculation. A coefficient of a cubic curve that approximates a series of sampled points on the reference line provides the lateral control. The approximation can be done with a series of sampled points that are detected on the reference line in the field of view with image processing. A path for maneuvers including lane-changing is generated by shifting the series of sampled points. Simulation studies and outdoor experiments were conducted to show the feasibility of the algorithms.