自动驾驶
自治
运动规划
计算机科学
建筑
感知
机器人学
人工智能
控制(管理)
系统体系结构
自主系统(数学)
机器人
人机交互
运输工程
汽车工业
工程类
心理学
生物
艺术
视觉艺术
神经科学
法学
政治学
作者
Claudine Badué,Rânik Guidolini,Raphael V. Carneiro,Pedro Azevedo,Vinicius B. Cardoso,Avelino Forechi,Luan F. R. Jesus,Rodrigo F. Berriel,Thiago M. Paixão,Filipe Mutz,Lucas Veronese,Thiago Oliveira-Santos,Alberto F. De Souza
标识
DOI:10.1016/j.eswa.2020.113816
摘要
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.
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