I must post his and am eager to hear of others have had this experience. I was on the highway, going 75 to 80 mph, when a truck veered slightly into my lane.There was some temporary barrier on the left side restricting my option to move out of the lane in that direction. I turned sharply too avoid the truck, and the car fought me for control, and steered me back toward the right. I fought back and tried to get right in the lane, and the car did it again. we fought for about five or six turns, until the car got square but there was quite a a little, and it seemed I was about 45 degrees askew at one point. Very scary, that in a point of crisis, the car took control.
Most new cars have the auto lane assist feature or lane center assist feature that will automatically keep you between the lines unless you use a turn signal. The car was doing what it's supposed to do, but should still allow you to overpower it when needed. It's interesting that you struggled with it. Scary too, because no one wants to be in that situation.
Given the "it seemed I was 45 degrees askew" (travelling down a highway lane at 75mph!), and "almost killed us" I think we can take the characterisation of the "struggle" as bit hyperbolic too. I've certainly had the car do "get back into lane" nudges, but it's there's no way it puts up any sort of serious fight if you object. But I can imagine it doing a few repeated nudges if you're brushing along an edge it wants to avoid. You could also hyperbolically claim the car saved OP's life by stopping him steering sharply into the barrier - it's not clear how "turning sharply to avoid the truck" makes sense if there was a barrier "restricting" the "option to move out of the lane". So the remaining option was just to squeeze left a little bit inside the lane - which should be a small steering manoeuvre at 75mph. The car made sure he was travelling alongside the barrier, not actually hitting it. I can also imagine the car is not so phased by a truck as a human - I think humans tend to be more wary of trucks than walls, understandably given the potential extra unpredictability, but the car's radar + camera sensors probably balanced the available space during the truck+barrier squeeze more evenly, thus preferring to be closer to the truck and further from the barrier than a human might. Whenever I've used any of the auto-steer stuff, you can see that the car does make some allowance for vehicles in other lanes - it's certainly aware of the - but it certainly tends to deviate less from lanes due to them than I would be inclined to.
You've posted in the gen5 board, but your bio states that you have a gen4? The gen5 lane keep assist is much improved from the gen4 - so I've been told. I've turned mine OFF after a couple of weeks of owning mine. Didn't like it bouncing me between the left and right lines of the lane. Steering wheel nudges can be easily overpowered, but I'm sure the rattling steering wheel didn't help in that high pressure situation. I've driven long enough that I DO NOT need or want these systems second guessing me! I still get the occasional red BRAKE screen when approaching a car too fast as they're clearing the lane or jumping into my lane. Can't turn that nag OFF, but I'm sure insurance companies would raise my rates every-time they see that triggered. YMMV
Pilot-involved oscillation is a real thing, very scary, and not always recoverable. I've experienced it twice, once on a bicycle and once in an SUV—an old one before any kind of lane-keeping or stability-control features. I haven't experienced it (yet) in a vehicle with those newer features. They probably make it less likely that you'll get into an oscillation through some small misjudgment in normal driving circumstances. On the other hand, in some situation where you had to give a sharp-enough input for an oscillation to start, it's probably still hard to recover from. Not that the new features are what's making it hard, but they probably change the exact way that it's hard.
