针对小车在行驶过程中的寻迹要求，设计了以AT89C51单片机为核心的控制电路，采用模块化的设计方案，运用色标传感器、金属探测传感器、超声波传感器、霍尔传感器组成不同的检测电路，实现小车在行驶中轨迹、探测预埋金属铁片、躲避障碍物、测量车速等问题检测，并对设计的电路进行了理论分析和实际测试。结果表明，该智能小车具有很好的识别与检测的能力，具有定位精度、运行稳定可靠的特点。-For the car moving in the process of tracing requirements, designed with AT89C51 microcontroller as the core of the control circuit, using modular design, the use of color sensors, metal detector sensors, ultrasonic sensors, Hall sensors of different detection circuit, achieve the car in motion trajectory, detecting embedded metallic iron tablets, avoid obstacles and issues such as measurement of the speed test, and circuit design of the theoretical analysis and practical test. The results show that the Smart car has a good identification and detection capabilities, with positioning accuracy, stable operation and reliable characteristics.