1. 1. Recognition the direction of the
traffic sign
2. Recognition the
traffic sign, stop and go

2. 3. Obstacle avoidance
path planning
4. Recognition Content of the
traffic sign

3. 5. Recognition vehicle
and
path planning
6. Recognition the
under-construction sign
and
path planning

4. 7. Recognition the complex obstacle
8. Recognition the
pedestrian and stop and planning

5. 9. Recognition the narrow road line
and
lane keeping
10.
Recognition the
moving vehicle
at the intersection