Since DARPA started Grand Challenges in 2004 and Urban Challenges in 2007, autonomous driving has been the most active field of AI applications. This paper gives an overview about technical aspects of autonomous driving technologies and open problems. We investigate the major fields of self-driving systems, such as perception, mapping and localization, prediction, planning and control, simulation, V2X and safety etc. Especially we elaborate on all these issues in a framework of data closed loop, a popular platform to solve the long tailed autonomous driving problems.

翻译：自2004年DARPA发起大挑战赛、2007年发起城市挑战赛以来，自动驾驶已成为人工智能应用最活跃的领域。本文对自动驾驶技术及其开放性问题进行了技术层面的综述。我们探究了自动驾驶系统的主要领域，如感知、地图构建与定位、预测、规划与控制、仿真、V2X及安全等。特别地，我们在数据闭环框架下详细阐述了所有这些问题——该框架是解决长尾自动驾驶问题的流行平台。