Considering the different dynamic performances of intelligent vehicle under various conditions, mixed switching lateral controller was designed that consists of optimal control law obtained through the linear quadratic form optimal track control theory and fuzzy control law obtained by fuzzy logic analysis. When the error and error rate was small, the steering controller was switched to optimal control law .When the error and error rate was greater than or equal to the threshold, the fuzzy control law was selected. Simulative researched on the lateral control algorithm of intelligent vehicle using ADAMS and Matlab/Simulink co-simulation control, and tested by experimental. Simulation and experimental results showed that the unmanned vehicle controlled by the proposed algorithm could track the reference paths under various conditions accurately and riding quality.