A fuzzy control design method for four-wheel-steering vehicles, using fuzzy models, is presented. The design model is obtained from a vehicle model using fuzzy modeling approach. In the first step of the controller design, an optimal steering controller is proposed for each local model using LQR method. Then, the local controllers are combined using fuzzy rules to form a fuzzy controller. In the next step, an adaptive fuzzy controller is obtained using adaptive control law. Simulation results show the good performance of the proposed controller as compared to the nonadaptive fuzzy controllers.