To guarantee CyberCar tracks target path steadily, navigation controller design is one of key technologies. The control mathematical model for the vehicle based on preview kinematics was established firstly. The method of optimizing parameters, including weight matrix, weight coefficient and preview distance was studied, for optimal navigation controller based on modern control theory. Simulation analysis and experimental results show that the optimized controller has good quality with respect to the uncertain factors in vehicle model, and it has good track performance during the JLUIV5-CyberCar outdoor navigation experiments.