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arXiv · 1906.05113

A Survey of Autonomous Driving: Common Practices and Emerging Technologies

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.

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Ekim Yurtsever, Jacob Lambert, Alexander Carballo, Kazuya Takeda. 2019-06-12. A Survey of Autonomous Driving: Common Practices and Emerging Technologies. https://doi.org/10.1109/access.2020.2983149

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