Autonomous vehicles have been actively investigated over the past few decades. Several recent works show the potential of autonomous vehicles in urban environments with impressive experimental results. However, these works note that autonomous vehicles are still occasionally inferior to expert drivers in complex scenarios. Furthermore, they do not focus on the possibilities of autonomous driving transportation services in other areas beyond urban environments. This paper presents the research results and lessons learned from autonomous driving transportation services in airfield, crowded indoor, and urban environments. We discuss how we address several unique challenges in these diverse environments. We also offer an overview of remaining challenges that have not received much attention but must be addressed. This paper aims to share our unique experience to support researchers who are interested in exploring autonomous driving transportation services in various real-world environments.

翻译：自主驾驶车辆在过去几十年中得到了积极探索。近期多项研究表明，自主驾驶车辆在城市环境中的潜力已通过令人瞩目的实验结果得以验证。然而，这些研究也指出，在复杂场景下自主驾驶车辆仍偶尔逊于专业驾驶员。此外，现有研究未充分关注城市环境之外的自动驾驶运输服务应用可能。本文呈现了在机场、密集室内环境及城市环境等场景中开展自动驾驶运输服务的研究成果与经验教训。我们探讨了如何应对这些多样化环境中的独特挑战，同时系统梳理了尚未受到充分重视但亟待解决的剩余难题。本文旨在通过分享独特实践经验，为致力于探索真实世界中自动驾驶运输服务的研究人员提供支持。