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本文阐述实现智能车辆转向运动的方法，并以一个机器人在走廊中的导航为例进行模拟设计，给出了模拟结果。使用这种方法，参考点的选取改在外侧前轮而非以往的车后轴上，而且要考虑车辆的几何尺寸、道路宽度、转向角极限和参考路径的形状等因素。我们着重车辆按某个角度（一般为９０°）转向，然后沿直线运动的情况，这种圆——切线的设计比其它设计容易，而且可以实现连续控制，克服车辆闯入其它车道，避免转向角超过其极限等问题。
In this paper, the method to realize the steering of a smart vehicle is expounded, and the simulation of a robot in the corridor is taken as an example to give the simulation results. Using this method, the selection of reference points is changed to the outer front wheel rather than to the rear axle of the vehicle, taking into account factors such as the vehicle’s geometry, road width, steering angle limits and reference path shape. We focus on the vehicle turning at an angle (usually 90 °), and then along a straight line, the circular-tangent design easier than the other design, and can achieve continuous control to overcome the vehicle into other lanes to avoid steering Angle over its limit and other issues.