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DARPA于2004年启动大挑战赛、2007年启动城市挑战赛以来，自主驾驶一直是人工智能应用最活跃的领域。本文对自主驾驶技术的技术层面与开放性问题进行了概述。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，我们基于数据闭环这一解决长尾自主驾驶问题的流行平台，对上述所有问题进行了详细阐述。