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Take tram 7 or 8 to Schlossmatte, for example from Hirschengraben near the train station. Backtrack a bit and turn right down Huberstrasse, before you turn right again and follow Weissensteinstrasse until you see the motorway signs. This isn't a very good spot as several directions meet very close to the on-ramp, but by working with signs, you can still get a ride down towards Lausanne.

You can use option 1 of going towards Zurich or options 1 or 3 of going towards Lausanne, or alternatively the option below.