| Intelligent Vehicle system is an important component of the Intelligent Traffic System. The self-driving technology of Intelligent Vehicle has a great perspective in road management and traffic transport. In the paper, Intelligent Vehicle system is researched. Hardware of every component is discussed, then the control core model is described specifically, and the controller is established.(1) The mechanical structure of the intelligent car model is discussed. Caster angle, toe-angle, camber-angle are adjusted due to the stability and the efficiency of the system. Then the reasons of sideslip are analyzed, and the position of gravity is adjusted to avoid sideslip.(2) The hardware system of the intelligent car model is designed and researched. All the components including MCU module, power module, road-identifying module, motor-driving module and wireless communication module are particularly discussed. All the researches provide reliable and stable hardware to the system.(3) A method which makes the intelligent vehicle be capable of identifying the anticipant track quickly and precisely is introduced. Then the driver-vehicle-road closed-loop system is researched.(4) It is actually a difficult work to design accurate model for the vehicle dynamic system because of its strong nonlinear characteristics. On that condition, fuzzy PID controller is brought out to fit the characteristic and requirement of the system. Besides, the problem that PID parameters are different in every single circumstance is properly solved. The function and control strategy of the PID factors are discussed, and Intelligent Vehicle model is designed according to research.Experiments prove that the controller is adaptive, stable and high reliability. The self-adjustment fuzzy PID control based Intelligent Vehicle model follows the anticipant track accurately and quickly, it performed excellently in "Freescale" National Intelligent Vehicle Tournament and obtained the first class award.
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