Establishing the vehicle steering dynamic equation by system identification experiment firstly, then combined with preview kinematics model and two-degree steering dynamic model of vehicle, therefore the vehicle steering control mathematics model based on preview kinematics was established. The optimal controller could trace the line path well. Adopting fuzzy control to fast-track the curve path, combined with the current state and the fastest dynamic response capability of the vehicle steering system, the variable structure control output set of vehicle petersen tracking was established. The Kalman observer was designed to solve the unmeasurable state variable for JLUIV-Ⅴ(CyberCar). The results of both simulation and experiment showed that the control technology could trace the path smoothly and reliably during the outdoor path tracking process of CyberCar.