From the perspective of emulating human drivers predictions,a novel cascade controller for curve driving is provided to realize automatic steering based on trajectory prediction.On the basis of road edge detection and path planning,a predicted point ob-tained by polynomial interpolation is introduced to predict trajectory and reduce influences of short sight distance in winding road.A PID control loop based on neutral-steering is adopted to obviate the disturbances with a high frequency as the vice loop,and then a model predictive controller is adopted to constraint lateral deviation and fluctuation as a main loop.The simulation results in a typical curve driv-ing show that the proposed control algorithm can make favourable tracking performance and promote stability in curve driving.