The aspiration of the next generation's autonomous driving (AD) technology relies on the dedicated integration and interaction among intelligent perception, prediction, planning, and low-level control. There has been a huge bottleneck regarding the upper bound of autonomous driving algorithm performance, a consensus from academia and industry believes that the key to surmount the bottleneck lies in data-centric autonomous driving technology. Recent advancement in AD simulation, closed-loop model training, and AD big data engine have gained some valuable experience. However, there is a lack of systematic knowledge and deep understanding regarding how to build efficient data-centric AD technology for AD algorithm self-evolution and better AD big data accumulation. To fill in the identified research gaps, this article will closely focus on reviewing the state-of-the-art data-driven autonomous driving technologies, with an emphasis on the comprehensive taxonomy of autonomous driving datasets characterized by milestone generations, key features, data acquisition settings, etc. Furthermore, we provide a systematic review of the existing benchmark closed-loop AD big data pipelines from the industrial frontier, including the procedure of closed-loop frameworks, key technologies, and empirical studies. Finally, the future directions, potential applications, limitations and concerns are discussed to arouse efforts from both academia and industry for promoting the further development of autonomous driving. The project repository is available at: https://github.com/LincanLi98/Awesome-Data-Centric-Autonomous-Driving.

翻译：下一代自动驾驶技术的美好愿景依赖于智能感知、预测、规划与底层控制之间的深度融合与交互。当前自动驾驶算法性能上限面临巨大瓶颈，学术界与工业界普遍认为，突破这一瓶颈的关键在于以数据为中心的自动驾驶技术。近年来，自动驾驶仿真、闭环模型训练及自动驾驶大数据引擎等领域取得了宝贵经验，但在如何构建高效的数据驱动型自动驾驶技术以支持算法自我演进和优质大数据积累方面，仍缺乏系统性认知和深入理解。为填补这一研究空白，本文聚焦于数据驱动的自动驾驶前沿技术综述，重点对按里程碑代际、关键特征、数据采集配置等维度分类的自动驾驶数据集进行系统性梳理。在此基础上，我们系统回顾了来自工业前沿的基准闭环自动驾驶大数据流水线，涵盖闭环框架流程、关键技术及实证研究。最后，本文探讨了未来发展方向、潜在应用、现有局限与挑战，旨在激发学术界与工业界的共同努力，推动自动驾驶技术的进一步发展。项目仓库地址为：https://github.com/LincanLi98/Awesome-Data-Centric-Autonomous-Driving