本文介绍了自主移动小车的整体设计，包括自主移动小车的轮子的数目和类型，小车的感知系统和驱动系统。并且对感知系统中的速度传感器和导向传感器以及驱动系统中的直流电机驱动和步进电机驱动做了进一步阐述。设计部分采用了Freescale16为单片机MC9S12DG128作为系统控制处理器，基于红外传感器检测道路信息，通过对信息的处理和分析，获取赛道黑线并结合测速反馈实现对自主移动小车的闭环反馈控制；还通过直流电机驱动和S12脉宽调制控制转向，使得自主移动小车能按照规定的轨迹前进和转向。文中介绍了小车的硬件设计、软件设计以及控制和算法，详细介绍了自主移动小车的电机驱动模块、电源模块、道路检测模块和舵机驱动模块。

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In this paper, autonomous mobile car's overall design, including the autonomous mobile car wheels in the number and type of car the perceptual system and drive system. And the perception system in the speed and direction sensors and sensor-driven system of motor-driven and done a stepper motor drive further elaborated. Design is partly based on Freescale16 SCM MC9S12DG128 as a system for the control processor, based on infrared sensors detect the road, through the processing and analysis of information, access to the track with black lines and gun feedback on the autonomous mobile trolley loop Feedback control; through the motor-driven and S12 to PWM control, making autonomous mobile trolley to the track in accordance with the regulations and to advance. The paper introduced the car's hardware design, software design and control and algorithms, described in detail the autonomous mobile trolley motor drive module, power modules, road test modules and steering gear drive module.