An autonomous driving system is expected to be one of effective traffic accident prevention approaches. Highly-precise ego-localization and mapping techniques from the road shape features are key elements in order to realize an autonomous driving system for vehicle in urban area which has complex environments. The objective of this study is to develop an autonomous driving system based on mapping and ego-localization using a LIDAR which is equipped at the front section of the vehicle. As a first step of the study, this paper proposes a path tracking control algorithm for an autonomous vehicle using a LIDAR. First, the LIDAR information is used to detect curbs on both sides of the road path. Consequently, the detected curb position is used for a digital map construction and a desired path generation. Next, a path tracking control is designed based on preview lateral vehicle control. Finally, this paper shows the simulation and test drives of autonomous path tracking control system based on the constructed map. The test drives using the micro electric vehicle verify that the control system can run in practice.