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Intelligent vehicle (IV) is one of the core components of intelligent transportation system. From the view of pattern-covering & embedding, the robust improvement mechanism of noise-add is described, and then the controller design method based on noise-add is presented. Fuzzy logic is applied to partition and cover vehicle motion pattern space. The controller's ability to cover and embed vehicle motion patterns is improved by adding noise in the design. Thus the robustness of the control system is enhanced. Simulation results show that the designed controller can adapt to non-linear structure with time-variant parameters and measure noise.