In order to reduce the following error of traditional pure pursuit algorithm, a Stanley compensatory pure pursuit algorithm is proposed. The simplified model of intelligent vehicle is established, and the front wheel angle compensation is used to ensure that the intelligent vehicle follows the expected path accurately. The simulation results show that the improved following control algorithm is effective, the maximum, average and standard deviation of the following error are reduced by 64.23%, 39.52% and 27.47% respectively. The simulation results show that the robustness of the improved pure pursuit algorithm is enhanced, and the intelligent vehicle can achieve stable, reliable and high precision tracking control effect.