To　stability　lane　keeping　for　intelligent　four　wheel　steering　vehicle,　a　cascade　control　strategy　is　proposed　which　integrate　the　direct　yaw　moment　control　and　the　lane　keeping　control.　The　main　controller　achieves　the　front　wheel　angle　control　for　lane　keeping.　The　deputy　controller　achieves　the　yaw　stability　control.　The　front　wheel　angle　of　the　main　controller　is　as　input　of　the　deputy　controller,　and　the　desired　slip　angle　and　desired　yaw　rate　are　obtained.　The　rear　wheel　angle　and　yaw　moment　are　as　inputs　of　deputy　controller,　and　compensation　of　the　rear　wheel　steering　angle　and　yaw　moment　is　calculated　based　on　the　LQ　algorithm.　The　actual　vehicle　slip　angle　and　actual　yaw　rate　can　track　desired　slip　angle　and　yaw　rate.　After　controlling　of　stability　control,　the　main　control　can　achieve　lane　keeping　accurately,　to　ensure　the　intelligent　vehicle　driving　in　the　inside　lane　driving　safely.　The　experimental　results　show　that,　the　cascade　control　strategy　is　effective,　and　it　can　improve　the　accuracy　of　lane　tracking　for　intelligent　vehicle,　but　also　can　improve　stability　and　maneuverability.　Copyright　©　2016　by　Science　Press.