在智能車傳統PID、PD控制的基礎上進行改進，提出了一種更為穩定快速的循跡控制方法。智能車的方向控制和速度控制都具有非線性、大滯后的特點，傳統的控制方法存在著響應時間不夠及穩態誤差大的缺點。通過電磁傳感器的合理設計，對路徑信息和車體狀態進行檢測，并在此基礎上引入基于模糊控制的變參數PD控制和變結構控制。實驗結果表明，與傳統方法相比，智能車運行的穩定性和快速性都得到了很大的提高。

　　Abstract:

　　A more steady and rapid tracking control method for smart car based on traditional PID， PD control was propsed. Directional control and speed control of smart car has characteristics of nonlinear, long delay. Therefore， traditional control methods have long response time and large steady-state error. Through the rational design of electromagnetic sensors， it detected the information of wire and the condition of model car. Then， introducted variable parameter PD control and variable structure control based on fuzzy control. Experimental results show that smart car runs more stably and the speed has been greatly improved compared with traditional methods.