To improve the racing performance of intelligent cars, this study introduces an intelligent racing car system based on IMXRT1021 with regard to selection of key components, design of hardware and circuit boards, and processing of sensor signals, as well as assembly, algorithms and control. This system consists of mechanical and hardware parts, PCB design, sensor signal processing, the recognition algorithm of racing track elements, control strategy and software design architecture. This study experimentally elaborates the recognition and control schemes of each racing elements. It compares the driving trajectories and absolute velocities of intelligent cars and analyzes the influence of different control algorithms on vital technical specifications such as finish time and stability. This design scheme shows its advantages in accurate control, sensitive steering and careful route planning, providing a sound reference for the students who are preparing for the four-wheel group in the National University Students Intelligent Car Race.