Considering the limitations of traditional control methods on the steering control of intelligent car, such as insensitiveness in steering, a big large overshoot and oscillation, a new control approach is proposed in this work by utilizing the I/O data to detect the position deviation of the lane with the least square algorithm. In the sequel, an improved PID controller for the steering control is introduced to enhance the stability and response speed of the steering control system. As shown by the test results, the proposed approach is efficient to improve the adaptability and stability of the intelligent car, as well as the dynamic performance of the steering control system.