An　effective　path　tracking　control　algorithm　with　speed　adjustment　is　proposed.　Traditional　algorithms　only　use　kinematic　characteristics　and　take　no　consideration　of　dynamic　restrains.　Besides,　most　of　the　earlier　studies　on　steering　control　assume　that　the　longitudinal　speed　is　constant,　which　is　not　reasonable.　In　this　paper,　we　use　an　improved　CLA　with　a　PID　controller　for　tight　path　tracking,　and　suggest　a　feed-forward　control　method　to　eliminate　the　heading　errors　caused　by　dynamic　conditions　while　tracking　a　desired　path.　Furthermore,　the　vehicle　speed　control　strategy　according　to　future　path　information　is　also　proposed.　Finally,　the　proposed　algorithm　is　implemented　on　the　intelligent　vehicle　BJUT-IV,　experimental　results　show　that　the　proposed　algorithm　achieves　an　accurate　and　effective　path　tracking,　and　improves　in　robustness　and　stability　to　dynamic　effects.