A Survey of Autonomous Driving: Common Practices and Emerging Technologies
Abstract
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 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: localization, mapping, perception, planning, and human machine interface, were thoroughly reviewed. Furthermore, the state-of-the-art was implemented on our own platform and various algorithms were compared in a real-world driving setting. The paper concludes with an overview of available datasets and tools for ADS development.
- Publication:
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arXiv e-prints
- Pub Date:
- June 2019
- DOI:
- 10.48550/arXiv.1906.05113
- arXiv:
- arXiv:1906.05113
- Bibcode:
- 2019arXiv190605113Y
- Keywords:
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- Computer Science - Robotics;
- Electrical Engineering and Systems Science - Systems and Control
- E-Print:
- 26 pages, 15 figures. Published in IEEE Access