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Intelligent vehicles are prone to accidents when encountering sudden obstacles or road collapses during operation. To ensure the auxiliary driving function and safety performance of intelligent vehicles, a PID control system based on single-chip microcomputer for automatic tracking laser guidance intelligent vehicles is designed. Install an MC9S12XS128 microcontroller processor, modify the laser, speed and angle measurement unit, intelligent vehicle PID controller, and intelligent vehicle drive module, and complete the optimization of the hardware system. With the support of the hardware system, based on the receiving results of laser signals, plan the guidance trajectory of the intelligent vehicle and complete the automatic tracking laser guidance work. Utilize hardware devices to obtain the movement speed, position, and steering angle of intelligent vehicles, and achieve real-time detection of their motion status. Taking into account the deviation between motion parameters and planned trajectory, generate intelligent vehicle PID control instructions, and complete the control function of the system through servo steering control and driving speed control. Through system testing experiments, it was concluded that the speed and steering angle control errors of the optimized design system were reduced by 5.37mm/s and 0.25 °, respectively, while the mobile balance of the intelligent vehicle was significantly improved.