Automatic driving refers to the integration of AI, machine vision, satellite navigation, sensors and other technologies to achieve the complete elimination of the need for the driver to control the vehicle, the car can be based on the road environment, surrounding vehicles, traffic rules and other information to make autonomous decisions and safe driving. Although the first demonstration car with automatic driving function appeared in the 1980s, so far the fully automated driving car has not yet reached commercialized application. At present, we mainly rely on the classification method defined by the American Society of Automotive Engineers to evaluate the ability of automated driving, Level 0 to 2 is to require human monitoring and driving, the responsibility for accidents is borne by the driver; and Level 3 to 5 is to be handed over to the automated driving system to monitor and control, and the responsibility for accidents is to be borne by the car manufacturer, the number of each level is described as follows.