preview information is obtained by processing data from image data of a ccd camera , and it is treated as a known disturbance . then , models for a vehicle and a target road path , typically consisting of darma models are prepared so as to give a relationship between a front wheel steering angle command and a lateral deviation of the vehicle . an extended generalized predictive control theory is applied to these models so as to compensate for tracking errors that may arise as a result of the known disturbance . thus , a favorable tracking capability can be achieved with a relatively simple structure , by executing a prediction control which requires only such variable that can be measured both easily and accurately .