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The performance of an automatic steering system based on an absolute positioning global positioning system (GPS) and a magnetic marker reference system during emergency situations is examined in this paper, as it is a vital safety issue in highway automation. Robust control technique in the form of parameter space approach in an invariance plane is utilized for lateral controller design based on a higher order nonlinear vehicle model. In addition, the control system incorporates an exponential smoothing algorithm based on road curvature preview for vehicle-handling enhancement. The proposed estimation and control system is shown, in computer simulations, to be effective in handling vehicle emergency situations.