The present invention belongs to the automatic driving technical field and relates to an expressway-based embedded integrated automatic driving controller. The expressway-based embedded integrated automatic driving controller comprises an automatic driving sensing unit, a vehicle vertical and horizontal
action control module, a
driving mode switching control module and a human-computer
interaction control module which are all integrated on a programmable
gate array; the programmable
gate array comprises at least a
data transmission interface, a
control signal transmission interface and a human-computer
interaction interface, wherein the
data transmission interface carries out data interaction with an environment sensor and a vehicle speed sensor, the
control signal transmission interface can transmit control instructions to an
execution unit, and the human-computer
interaction interface transmits signals to a human-computer interaction
system. A whole set of automatic driving
system with functions such as sensing integration, path planning, decision planning and control is integrated into an
embedded controller, so that the expressway-based embedded integrated automatic driving controller can be realized, and automatic driving functions such as adaptive navigation, lane keeping, autonomous lane changing, autonomous
overtaking, autonomous acceleration, emergency braking and automatic pull over can be realized, and the size of the automatic driving
system can be greatly decreased, and the
power consumption of the system is decreased. The controller is easy to realize
mass production.