The article discusses a model of automatic vehicle control for collision avoidance and lane keeping. The controller uses longitudinal velocity, lateral deflection, and yaw angle as input parameters. The data for calculating these values comes from microwave Doppler sensors located on the rear wheels of the vehicle. A camera-based sensor transmits data to the system about the predicted section of the centerline at the current moment in time. Frequency modulated microwave radar measures the distance to an object and its rate of approach. All the listed parameters enter to the input of the system. The output parameters of the control system are acceleration and steering wheel angle.