The aim of this work is to investigate the control of a nonholonomic vehicle with respect to the problem of obstacle avoidance, while using an autonomous drive assistant system. The results of the work can be applied, at a later stage, to a real vehicle. The system which is taken into consideration is represented by a nonholonomic car-like robot. The investigation considers the design of a PD Fuzzy cascade control structure to realize an autonomous drive assistant system for obstacle avoidance. The simulations allow to test the vehicle’s behavior and to design the control, comparing different control strategies.