Based　on　the　characteristics　of　the　intelligent　vehicle　during　steering,　this　work　designed　a　control　system　that　is　easy　to　be　applied.　This　work　built　a　dynamical　model　of　vehicle　by　two-freedom　model,　in　which　the　method　of　calculating　the　look-ahead　distance　is　improved　by　the　modification　to　preview　strategy　based　on　the　pure　pursuit　tracking　method,　so　that　the　vehicle　can　get　close　to　the　desired　path　smoothly.　The　controller　is　designed　by　a　linear　PD　control　method,　which　decreases　the　tracking　error.　To　make　sure　that　the　process　can　get　the　desired　steering　angle　to　control　the　vehicle　accurately,　this　work　designed　a　PID　closed-loop　control　method　for　steering　angle　at　underlying　control.　In　the　end,　the　test　proved　the　feasibility　and　effectiveness　of　the　method.　With　this　method,　the　dynamic　characteristics　of　the　controller　and　the　adaptability　can　be　improved.