In this paper we will demonstrate an intelligent vehicle system scheme prepared for the first national intelligent vehicle contest. The vehicle system, with the Freescale16-bit single-chip MC9S12DG128 as its control microprocessor, uses image-sensor module based on camera to obtain lane image information, then abstract the black line on the contest lane by edge-detection method and calculate the position difference between the vehicle and the black line with which we will have a PID feedback control on the steering angle. The vehicle also uses a speed-sensor made by ourselves to obtain the real time speed which will be used in a speed feedback that adopts Bang-Bang control method. Certain algorithm will be employed to analyze the lane styles in front of the vehicle and set different vehicle speed according to the lane style. The mechanical structure and adjustment method of the vehicle, the design, parameters, and relative tests of the vehicle steer module and driving modul

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