An embedded monocular visual navigation system based on navigation line recognition, the system includes the following processing steps: the first step, video signal acquisition, the single-chip microcomputer carries out video signal acquisition; the second step, distortion correction, the image collected by the camera is processed Vertical and horizontal distortion correction; the third step, path recognition and extraction, separating and extracting the navigation line from the background image; the fourth step, steering control, building a steering model to calculate the relationship between the turning radius of the smart car and the steering gear swing angle , to provide data for the steering control of the smart car; the fifth step, steering gear control, to realize the smart car moving along the navigation line; the sixth step, speed control, using the PID control method to control the running speed of the smart car; the present invention collects and navigates with a camera The line information has good visual foresight, which effectively improves the performance of the navigation system. The invention realizes image dynamic threshold calculation and self-adaptive adjustment in complex environment, and has better stability under complex light.