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For the purposes of modeling vehicle response in lateral lane deviation maneuvers, a path follower that utilizes adaptive control has been developed and implemented into vehicle simulation software. The path follower utilizes input-output, model reference adaptive control so that no a priori knowledge of the vehicle system is required. The reference model response is generated by a second order linear dynamic model and represents the desired lateral lane deviation trajectory of the vehicle under the conditions of a single maneuver. The controller utilizes any steering degree of freedom of the vehicle model as the input. Therefore different vehicle model structures can be used without modification of the controller. With its adaptive structure, the vehicle model can be made to follow the desired trajectory by minimizing the error between its trajectory and the trajectory response of the reference model.