In　the　intelligent　vehicle　path　tracking　control　research,　the　vehicle　is　difficult　to　establish　an　accurate　mathematical　model,　this　paper　design　a　vehicle　position　error　controller　using　fuzzy　PID　to　solve　the　problem.　Firstly,　simplify　the　vehicle　structure　and　establish　a　vehicle　model,　and　then　to　use　the　yaw　angle　error　which　is　got　from　relationship　between　vehicle　and　road　relative　motion　and　horizontal　position　error　as　the　input　of　fuzzy　controller,　the　parameters　of　PID　controller　are　adjusted　by　fuzzy　control　online.　Finally,　multiple　speeds　tracking　simulation　for　double　lane　change　and　serpentine　path.　Simulation　results　show　that　the　vehicle　tracking　precision　is　high　and　steering　feedback　is　fast　when　the　car　is　traveling　at　a　low　speed,　when　the　vehicle　speed　increases,　the　maximum　deviation　of　the　tracking　is　not　changed,　but　the　steering　wheel　rotation　angle　causes　the　vehicle　stability　to　decrease.　©　2016,　FISITA.　All　rights　reserved.