In term of the nonlinear complex motion process of speed tracking control in automatic driving which is interference by some uncertain factors such as environment and whose object model changing real-timely, it is impossible to reach the tracking target relied on the traditional control strategy to regulating speed. Combined with self-adaptive control theory, a fuzzy self-adaptive controller used in the speed tracking control in automatic driving is designed. This controller is a combinational controller of fuzzy control and PID control, and then it improves the fuzzy PID controller using the feedback mechanism of immunology system. Simulation experiment shows that the immunology PID fuzzy controller has the higher precision for the vehicle speed control.