This study introduces the hardware connection scheme for an embedded intelligent car control system based on RISC-V, the state analysis method of an intelligent car based on a state machine, and the motor control scheme in different application scenarios. The system takes the FPGA development board running the RISC-V softcore as the main control board of the intelligent car and collects the signals from the ultrasonic sensor and infrared sensor of the intelligent car through the GPIO module of RISC-V to detect the obstacles in front and rear of the car respectively. Moreover, it uses the GPIO interrupt to respond quickly to the signals from the collision detection sensor and tilt angle sensor and adopts the PWM module for the motor control in different scenarios. The test results show that the control system introduced in this paper can fulfill the functions of the intelligent car, such as autonomous obstacle avoidance, collision detection, and attitude detection.