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In this paper, we propose a vision based lateral control scheme for autonomous lane change system on highways. Three main techniques are proposed, to improve the lane keeping/lane change performance, and to reduce the ripple in the yaw rate on highways. First, we propose a model based lane prediction method to cope with the momentary failure of lane detection. Second, we innovate an approach to steering wheel angle control based on torque overlay for the EPS of the lateral control. Finally, the multi-rate lane-keeping control scheme is proposed to improve the lateral control performance and to reduce the ripple in the yaw rate. The performance of the proposed method was experimentally evaluated via test vehicle