关键词：汽车；自循迹小车；路径识别；OV6620
摘 要：This paper proposes extracting black line with small-scale method in the self-tracing car system based on OV6620 as the video sensor unit.Describe the hardware design of OV6620 and other two kinds of image signal extracting methods,which are to extract black line from left to right,and extract black line from middle to both sides.The testing shows that extracting black line with small-scale method has good stability,accuracy,and anti-interference.