Abstract: To meet the requirements of smart car closed field test，a soft target vehicle for smart car field test is developed，which effectively improves the safety and efficiency of field test.In the test of the functional scene of the closed site，the soft target vehicle is able to drive with high precision according to the preset GPS trajectory.To improve the path tracking accuracy of the target vehicle，a horizontal and vertical controller based on deviation proportional，integral，differential and Stanley control algorithm is designed.The optimal knowledge base of Stanley control algorithm parameters is obtained based on genetic algorithm，and the parameters of Stanley control algorithm are accordingly adjusted by fuzzy control algorithm.A soft target vehicle simulation model is built based on Carsim and Matlab／Simulink.Finally，a real vehicle is verified in a closed field.Our results show the proposed control method well meets the requirements of smart car closed field test.