The angle control formula of the camera & pan-tilt-device system is educed with its vision coordinates, which provides theory basis for moving vehicle tracking.

Adopt variable frequency control, stepless speed regulation, the roller tilt Angle can be adjusted.

To overcome the defects of static adjust through collimator, 2 new dynamical adjusting methods of tilt angle such as pulse width for radial and laser spot offset control for tangentia are proposd.