In intelligent lunar vehicle’s infrared tracing automatic control, reflective infrared sensor array is adopted for detecting the path. By processing the sensor data and relative error through the detection of nonlinear analog A/D sampling, real-time processing and non-linearizing the control parameters in the PID variable scale incremental control algorithm, closed-loop control would be realized. In addition, incremental PD formula can be derived by fuzzy control technology, while the sensitivity and stability of the vehicle tracing can be improved by adjusting parameters in programming. It proved that this method can effectively shorten response time, reduce random interference, optimize the tracing line, eliminate oscillation and improve the mobility.