Abstract: In order to simulate the behavior pattern of drivers during lane changing and static/moving obstacle avoiding in a dynamic environment,this paper proposes a dynamic target position concept,and employs cubic spline curves as the path fitting curves for lane-changing.Additionally,an intelligent lateral motion controller for vehicles is designed by using the fuzzy logic as its control strategy,the T-S fuzzy model as its structure and an adaptive neural network as the parameter-adjusting means for membership function,and the controller is implemented with computer simulation.The simulation results show that the designed controller based on the dynamic target position concept gives satisfactory control performance,and can simulate ideally the lateral motion characteristics of vehicles in real traffic situation.