中文摘要：

介绍了一种基于飞思卡尔HCS12单片机控制的智能车系统．该系统以CAD摄像头传感器作为路径识别装置，通过图像识别提取路径信息，采用PD算法控制舵机转向，通过模糊设定速度和PID调整速度相结合的算法控制直流电机．较之常规的光电传感器识别路径方案，该摄像头传感器可以获取更多的路径信息，使智能车按任意给定的黑色引导线更能以较快的速度平稳地运行．

英文摘要：

A smartcar system is introduced based on HCS12 MCU of FreeScale controlling. This system uses CCD sensor as its route recognition device, draws its route information through image recognition, changes the direction of steering engine with PD control algorithm, controls the I）（2 Motor by setting speed with fuzzy set- ting speed and modulating speed with PID control algorithm. Compared with the normal route recognition scheme of photoelectric cell sensor, this scheme can obtain more path information, which makes the smartcar can run smoothly along the black-guide-line given arbitrarily with the most rapid speed.