For the emergency collision avoidance condition, a new method of path planning and a path tracking feedback preview driver model were proposed and designed. Firstly, a collision avoidance path planning method based on Sigmoid curve and physical limitation was proposed, and a driver model combined with optimal curvature preview and closed-loop feedback steering correction was established to achieve the fast and precise tracking of the planned path. Then, the effectiveness of the collision avoidance path planning and the path tracking feedback preview driver model was verified by CarSim+Simulink offline co-simulation platform. Finally, based on the self-modified test vehicle, a real vehicle test was carried out to verify the feasibility and real-time of the proposed path planning method and driver model. Both the simulation and real vehicle test results show that, the planned path and driver model for collision avoidance can control the vehicle to avoid obstacles quickly and safely.