Autonomous vehicles have been actively investigated over the past few decades. Several recent works show the potential of autonomous driving transportation services 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 realizing the potential of autonomous vehicles in various real-world environments.

翻译：自主驾驶车辆在过去数十年间得到了广泛研究。近年来多项研究通过令人瞩目的实验成果，展示了城市环境中自动驾驶运输服务的潜力。然而，这些研究指出，自动驾驶车辆在复杂场景中仍偶有逊于专业驾驶员的表现。此外，现有研究并未关注城市环境之外其他领域实现自动驾驶运输服务的可能性。本文系统阐述了在机场、拥挤室内及城市环境中开展自动驾驶运输服务的研究成果与经验教训，讨论了应对这些多样化环境特有挑战的技术路径，并综述了尚未引起足够重视却亟待解决的遗留难题。本文旨在通过分享独特的实践经验，为致力于在各种真实环境中发掘自动驾驶车辆潜力的研究人员提供支持。