Self-driving cars: A survey

• Published in: Expert systems with applications Vol. 165; p. 113816
• Main Authors: Badue, Claudine, Guidolini, Rânik, Carneiro, Raphael Vivacqua, Azevedo, Pedro, Cardoso, Vinicius B., Forechi, Avelino, Jesus, Luan, Berriel, Rodrigo, Paixão, Thiago M., Mutz, Filipe, de Paula Veronese, Lucas, Oliveira-Santos, Thiago, De Souza, Alberto F.
• Format: Journal Article
• Language: English
• Published: New York Elsevier Ltd 01.03.2021; Elsevier BV
• Subjects: Autonomous cars; Autonomous vehicles; Autonomy; Behavior selection; Decision making; Mapping; Motion planning; Moving objects detection; Moving objects tracking; Moving obstacles; Obstacle avoidance; Occupancy grid mapping; Path planning; Perception; Road mapping; Robot control; Robot localization; Robotics; Route planning; Self-driving cars; Subsystems; Traffic signalization detection; Traffic signalization recognition; Self-driving cars; Moving objects detection; Obstacle avoidance; Robot control; Route planning; Occupancy grid mapping; Traffic signalization recognition; Motion planning; Traffic signalization detection; Robot localization; Behavior selection; Moving objects tracking; Road mapping
• ISSN: 0957-4174; 1873-6793
• DOI: 10.1016/j.eswa.2020.113816

We survey research on self-driving cars published in the literature focusing on autonomous cars developed since the DARPA challenges, which are equipped with an autonomy system that can be categorized as SAE level 3 or higher. The architecture of the autonomy system of self-driving cars is typically organized into the perception system and the decision-making system. The perception system is generally divided into many subsystems responsible for tasks such as self-driving-car localization, static obstacles mapping, moving obstacles detection and tracking, road mapping, traffic signalization detection and recognition, among others. The decision-making system is commonly partitioned as well into many subsystems responsible for tasks such as route planning, path planning, behavior selection, motion planning, and control. In this survey, we present the typical architecture of the autonomy system of self-driving cars. We also review research on relevant methods for perception and decision making. Furthermore, we present a detailed description of the architecture of the autonomy system of the self-driving car developed at the Universidade Federal do Espírito Santo (UFES), named Intelligent Autonomous Robotics Automobile (IARA). Finally, we list prominent self-driving car research platforms developed by academia and technology companies, and reported in the media. •Recently developments of autonomous driving from academic and industry point of view.•Breakdown of the main aspects comprising autonomous driving and their evolution.•Autonomous driving architecture review and proposal.