Abstract: As a robot propelled through 4 wheels,Intelligent Vehicle have a lot of flexibility.The study about the intelligence obstacle avoidance research,which attracts many scholars,was one of the important subjects in the study field of the intelligent vehicle.Intend to solve the defect existing in the function of the smart car of infrared obstacle avoidance,this article puts forward and designed a way of infrared detection based on the double cross intelligence obstacle avoidance system.As for the "Wall" trapping problem,which the tiny intelligent car come across in the avoidance process,this article solves it effectively by presenting a protection mode based on the clock interruption.The algorithm has been tested again and again to modify the parameters,and achieved a good effect of obstacle avoidance.