For the lateral control of an autonomous vehicle, this paper proposes a linear-matrix-inequality (LMI)-based $H_{infty}$ control algorithm that utilizes the feedback of the lateral offset and target yaw angle at the preview point, which is effective for the fusion of look-ahead and look-down sensors. To verity the performance of this controller, lane change and circular lane tracking simulations are carried out in multi body dynamics. Against the uniformly random noises in position and yaw angle and the constant modeling uncertainties in mass and cornering stiffness, the robustness of the proposed algorithm is compared with the cubic curve method and the heading angle method at the look-ahead target lane.