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发起无人车挑战赛（Grand Challenges）及2007年发起城市挑战赛（Urban Challenges）以来，自动驾驶一直是人工智能应用领域中最活跃的研究方向。本文对自动驾驶技术的技术层面与开放性问题进行了综述。我们系统研究了自动驾驶系统的核心领域，包括感知、建图与定位、预测、规划与控制、仿真、V2X通信及安全等。特别地，我们基于数据闭环框架对所有上述议题进行了详细阐述——该框架已成为解决自动驾驶长尾问题的通用平台。