A Survey of Autonomous Driving: Common Practices and Emerging Technologies

Automated driving systems (ADSs) promise a safe, comfortable and efficient driving experience. However, fatalities involving vehicles equipped with ADSs are on the rise. The full potential of ADSs cannot be realized unless the robustness of state-of-the-art is improved further. This paper discusses...

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Bibliographic Details
Published in:	IEEE access Vol. 8; pp. 58443 - 58469
Main Authors:	Yurtsever, Ekim, Lambert, Jacob, Carballo, Alexander, Takeda, Kazuya
Format:	Journal Article
Language:	English
Published:	Piscataway IEEE 2020 The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects:	Algorithms Automation Autonomous vehicles control intelligent transportation systems intelligent vehicles Man-machine interfaces New technology robotics State-of-the-art reviews
ISSN:	2169-3536, 2169-3536
Online Access:	Get full text
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Summary:	Automated driving systems (ADSs) promise a safe, comfortable and efficient driving experience. However, fatalities involving vehicles equipped with ADSs are on the rise. The full potential of ADSs cannot be realized unless the robustness of state-of-the-art is improved further. This paper discusses unsolved problems and surveys the technical aspect of automated driving. Studies regarding present challenges, high-level system architectures, emerging methodologies and core functions including localization, mapping, perception, planning, and human machine interfaces, were thoroughly reviewed. Furthermore, many state-of-the-art algorithms were implemented and compared on our own platform in a real-world driving setting. The paper concludes with an overview of available datasets and tools for ADS development.
Bibliography:	ObjectType-Article-1 SourceType-Scholarly Journals-1 ObjectType-Feature-2 content type line 14
ISSN:	2169-3536 2169-3536
DOI:	10.1109/ACCESS.2020.2983149