A lanekeeping control system intends to aid driver in order to avoid such risky situations as lane departure and obstacle collision.The lanekeeping control system usually works in the linear area of normal tires.However,two key control variables of lanekeeping control,i.e., heading error and lateral error,have close relationship with vehicle stability.The successful control of these two variables can exert a stabilizing influence on vehicle yaw dynamics in critical situations.A lanekeeping algorithm was proposed based on the artificial potential field method,and then the linear tires models were extended to nonlinear ones on the basis of the linear vehicle model.The simulation results demonstrate that under the abrupt disturbance of steering,the lanekeeping algorithm enables the vehicle follow the planned path and provides a stabilizing influence on vehicle yaw motion even at critical driving conditions.