Based on analyzing the dynamics of vehicle EPS, a dynamical mathematical model is established. To overcome the problems when using fuzzy controller or PID controller respectively, to increase the responsing speed, decrease the over adjustment and reduce the stability tolerance, a fuzzy-PID multi-mode controller is designed to control the system, the system is controlled with fuzzy controller or PID controller according to the range of tolerance. In order to weaken the effect of road random disturbance and sensor measure noise and make the control effect better, the control signals are filtered with Kalman filter. The results of simulation and experiment show that the performance of control becomes better by using this designment.