This paper is based on the Ninth National College"Freescale"smart car competition. As the ninth race track rules have several different changes respect to the eighth, the track increases barriers which placed in the side of the track by two bricks stacked package, the ramp becomes asymmetric, photoelectric group and camera balanced group increases the crossing which should force to turn round, electromagnetic group increases 90°curve. In order to make the various types of car models detect types of tracks earlier, safe and fast track through them simultaneously, this paper analysis the traction principle of electromagnetic group、 optoelectronics group and camera balanced group details, while it also gives a variety of track treatments and precautions, so this will plays a big role which can make the car model in each group through various types of track quickly and safely.%本文基于第九届"飞思卡尔"智能车竞赛，由于第九届竞赛赛道规则相对于第八届做了几处改动，赛道增加了由两块砖头叠放封装后放置在赛道的一侧路障，坡道变成不对称坡道，光电组和摄像头平衡组赛道增加了强制掉头路口，电磁组赛道增加了直角弯道。为了使车模能够较早的检测出各种类型的赛道并且能够安全快速的通过，本文详细的分析了电磁组、光电组和摄像头平衡组的循迹原理，给出了各种赛道的处理方法及注意事项，这将对各组车模能够快速安全的通过各种类型的赛道起着很大的作用。
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