Abstract: As to the problems of trial-and-error method like the difficulty of control parameters optimization,low control precision and poor adaptability of control law,this paper researches the dynamics model and self-control for Intelligent Vehicle.In the vehicle experiments,the running state of the vehicle is sufficiently excited by applying pseudo-random sequences signals to the car steering control.After obtaining this vehicle's speed,position,attitude and yaw rate,dynamics model of the Intelligent Vehicle is established by use of system identification.Based on the dynamics model,designing autonomous driving control law of Intelligent Vehicle.The ground experiments suggest good consistency between predicted results of proposed model and actual measured results.The control simulations show that designed control law ensure the completion of vehicle autonomous driving under given track.