I suggest you download AndEngine ( an open source 2d android game develoopmnent framework ). In the examples there is a (very simple) race track demo with a movable car + controls + obstacles. If you have troubles you can always get support from the forums
AndEngine has a very easy learning curve :-)
Have fun creating your racing game!!
Here are 2 good tutorials on starting with 2d:
- Canvas tutorial
- OpenGL tutorial
The last part, about showing only a part of the map, can be achieved by using a BoundCamera in AndEngine.