Current research on lane-keeping systems ignores the effect of the driver and external resistance on the accuracy of tracking the lane centerline. To reduce the lateral deviation of the vehicle, a lane-keeping control method based on the fuzzy Takagi-Sugeno (T-S) model is proposed. The method adopts a driver model based on near and far visual angles, and a driver-road-vehicle closed-loop model based on longitudinal nonlinear velocity variation, obtaining the expected assist torque with a robust H∞ controller which is designed based on parallel distributed compensation and linear matrix inequality. Considering the external influences of tire adhesion and aligning torque when the vehicle is steering, a feedforward compensation control is designed. The electric power steering system is adopted as the actuator for lane-keeping, and active steering redressing is realized by a control motor. Simulation results based on Carsim/Simulink and real vehicle test results demonstrate that the method helps to maintain the vehicle in the lane centerline and ensures driving safety.