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Computer Science > Robotics

arXiv:1906.05113 (cs)
[Submitted on 12 Jun 2019 (v1), last revised 2 Apr 2020 (this version, v3)]

Title:A Survey of Autonomous Driving: Common Practices and Emerging Technologies

Authors:Ekim Yurtsever, Jacob Lambert, Alexander Carballo, Kazuya Takeda
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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.
Comments: 26 pages, 15 figures. Published in IEEE Access
Subjects: Robotics (cs.RO); Systems and Control (eess.SY)
Cite as: arXiv:1906.05113 [cs.RO]
  (or arXiv:1906.05113v3 [cs.RO] for this version)
  https://doi.org/10.48550/arXiv.1906.05113
Journal reference: IEEE Access, volume 8. 2020
Related DOI: https://doi.org/10.1109/ACCESS.2020.2983149

Submission history

From: Ekim Yurtsever [view email]
[v1] Wed, 12 Jun 2019 13:03:19 UTC (8,738 KB)
[v2] Mon, 6 Jan 2020 22:31:53 UTC (8,738 KB)
[v3] Thu, 2 Apr 2020 20:36:14 UTC (8,807 KB)
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