In order to solve the problem that the parameters of PID controller used for autonomous lane change trajectory tracking of intelligent vehicles are difficult to be adjusted, this paper proposes a robust PID controller design method. Firstly, a vehicle-road system dynamic model is built, which takes the steering actuator as a first-order inertial link and includes the steering actuator dynamic model. Then, the autonomous lane change trajectory model is solved based on the piecewise polynomial. The robust PID controller is constructed based on the product integral of time and absolute error value to determine the control parameters and form the transfer function of the closed-loop system. Finally, simulation and real vehicle test are carried out. The simulation results show that the designed controller has strong robustness, which can ensure tracking ability of intelligent vehicles under lane changing conditions and effectively improve the comfort of passengers simultaneously