Measurement and control system for intelligent car is one of the key technologies in the design of the car，sensitive and comprehensive measurement and control system can effectively improve the operational stability of intelligent car. It introduces the whole architecture of intelligent autonomous tracing car measurement and control system and the hardware and software design process. Take Freescale M9S12XS128microprocessor as the control core of the car，and infrared optical sensor to abtain path information. According to the path information and the current state of the car，the microprocessor control the drive motor and actuator by using pulse width modulation （PWM）method. Excellent control algorithm plays a key role for intelligent car tracing accuracy and stability. This paper uses fuzzy proportion-integration-differentiation（PID）control strategy to control direct current（DC）motor speed，using double P control algorithm to control the steering of the intelligent car steering gear. The test results show that the intelligent car runs fast and smoothly，and can trace independently and accurately.