Abstract: In order to simulate truthfully behavior pattern of driver in moving obstacle avoidance in a dynamic environment，this paper proposes a dynamic target position concept，and employes cubic spline curves as path fitting curves of moving obstacle avoidance.In this paper，a lateral controller of vehicle is designed by using the fuzzy logic as a control strategy，the T-S fuzzy model as its structure and an adaptive neural network as a means of adjusting membership function.The simulation result shows that the designed controller based on dynamic target position can simulate well moving obstacle avoidance characteristic of vehicle in actual traffic situation.