mlsanityData to 7 Oct 2026

Self-Driving Cars: A Survey

arXiv 1901.04407 ↗First posted 14 Jan 2019cs.ROcited by 147

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Cited by 23 in End-to-end autonomous driving, but placed by its own abstract, which didn’t fit.

Abstract (arXiv)

We survey research on self-driving cars published in the literature focusing on autonomous cars developed since the DARPA challenges, which are equipped with an autonomy system that can be categorized as SAE level 3 or higher. The architecture of the autonomy system of self-driving cars is typically organized into the perception system and the decision-making system. The perception system is generally divided into many subsystems responsible for tasks such as self-driving-car localization, static obstacles mapping, moving obstacles detection and tracking, road mapping, traffic signalization detection and recognition, among others. The decision-making system is commonly partitioned as well into many subsystems responsible for tasks such as route planning, path planning, behavior selection, motion planning, and control. In this survey, we present the typical architecture of the autonomy system of self-driving cars. We also review research on relevant methods for perception and decision making. Furthermore, we present a detailed description of the architecture of the autonomy system of the self-driving car developed at the Universidade Federal do Esp'irito Santo (UFES), named Intelligent Autonomous Robotics Automobile (IARA). Finally, we list prominent self-driving car research platforms developed by academia and technology companies, and reported in the media.

Key facts. Cited by 147 papers in the map (data through 7 Oct 2026). First posted on arXiv 14 Jan 2019.

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Cited by year (2026 to 7 Oct)

Citing papers per year: 2019: 1; 2020: 0; 2021: 21; 2022: 25; 2023: 31; 2024: 28; 2025: 22; 2026: 19.

147 papers.

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  1. 2021Adaptive Conformal Inference Under Distribution Shiftcited by 360
  2. 2022Rethinking Efficient Lane Detection via Curve Modelingcited by 87
  3. 2023Milestones in Autonomous Driving and Intelligent Vehicles: Survey of Surveyscited by 75
  4. 2021Explainable Artificial Intelligence for Autonomous Driving: A Comprehensive Overview and Field Guide for Future Research Directionscited by 73
  5. 2023Not All Neuro-Symbolic Concepts Are Created Equal: Analysis and Mitigation of Reasoning Shortcutscited by 63
  6. 2021Task-Oriented Communication for Multi-Device Cooperative Edge Inferencecited by 47
  7. 2024DME-Driver: Integrating Human Decision Logic and 3D Scene Perception in Autonomous Drivingcited by 41
  8. 20244D Contrastive Superflows are Dense 3D Representation Learnerscited by 32
  9. 2022WOODS: Benchmarks for Out-of-Distribution Generalization in Time Seriescited by 29
  10. 2024Is Your LiDAR Placement Optimized for 3D Scene Understanding?cited by 25
  11. 2021Diverse Auto-Curriculum is Critical for Successful Real-World Multiagent Learning Systemscited by 24
  12. 2021Near-field Perception for Low-Speed Vehicle Automation using Surround-view Fisheye Camerascited by 24
38 more
  1. 2024LangProp: A code optimization framework using Large Language Models applied to drivingcited by 17
  2. 2024Research on Autonomous Driving Decision-making Strategies based Deep Reinforcement Learningcited by 17
  3. 2021End-to-End Deep Learning of Lane Detection and Path Prediction for Real-Time Autonomous Drivingcited by 16
  4. 2023Rethinking Learning Rate Tuning in the Era of Large Language Modelscited by 16
  5. 2024Global Counterfactual Directionscited by 15
  6. 2025UrbanIng-V2X: A Large-Scale Multi-Vehicle, Multi-Infrastructure Dataset Across Multiple Intersections for Cooperative Perceptioncited by 15
  7. 2021Decision-Making Technology for Autonomous Vehicles Learning-Based Methods, Applications and Future Outlookcited by 14
  8. 2024Vehicle: Bridging the Embedding Gap in the Verification of Neuro-Symbolic Programscited by 14
  9. 2024Preference Poisoning Attacks on Reward Model Learningcited by 14
  10. 2022Deep Learning Serves Traffic Safety Analysis: A Forward-looking Reviewcited by 13
  11. 2022GAMA: Generative Adversarial Multi-Object Scene Attackscited by 13
  12. 2021GCNDepth: Self-supervised Monocular Depth Estimation based on Graph Convolutional Networkcited by 12
  13. 2023S.T.A.R.-Track: Latent Motion Models for End-to-End 3D Object Tracking with Adaptive Spatio-Temporal Appearance Representationscited by 12
  14. 2021Reimagining an autonomous vehiclecited by 11
  15. 2021MDPFuzz: Testing Models Solving Markov Decision Processescited by 11
  16. 2022Visual Adversarial Attacks and Defenses in the Physical World: A Surveycited by 11
  17. 2023EgoVM: Achieving Precise Ego-Localization using Lightweight Vectorized Mapscited by 11
  18. 2023Causal Explanations for Sequential Decision-Making in Multi-Agent Systemscited by 10
  19. 2021Fine-Grained Off-Road Semantic Segmentation and Mapping via Contrastive Learningcited by 9
  20. 2022Common Corruption Robustness of Point Cloud Detectors: Benchmark and Enhancementcited by 9
  21. 2023Knowledge Engineering using Large Language Modelscited by 9
  22. 2023Data Cleaning and Machine Learning: A Systematic Literature Reviewcited by 9
  23. 2026DROID-SLAM in the Wildcited by 9
  24. 2022Holistic Transformer: A Joint Neural Network for Trajectory Prediction and Decision-Making of Autonomous Vehiclescited by 8
  25. 2022A Survey on Knowledge Graph-based Methods for Automated Drivingcited by 8
  26. 2023Ego-Vehicle Action Recognition based on Semi-Supervised Contrastive Learningcited by 8
  27. 2023Occupancy Prediction-Guided Neural Planner for Autonomous Drivingcited by 8
  28. 2024Efficient Bias Mitigation Without Privileged Informationcited by 8
  29. 2022Learning Car Speed Using Inertial Sensors for Dead Reckoning Navigationcited by 7
  30. 2023Zone Evaluation: Revealing Spatial Bias in Object Detectioncited by 7
  31. 2025QuartDepth: Post-Training Quantization for Real-Time Depth Estimation on the Edgecited by 7
  32. 2022KT-BT: A Framework for Knowledge Transfer Through Behavior Trees in Multi-Robot Systemscited by 6
  33. 2024Enhanced 3D Urban Scene Reconstruction and Point Cloud Densification using Gaussian Splatting and Google Earth Imagerycited by 6
  34. 2024Diffusion-Based Failure Sampling for Evaluating Safety-Critical Autonomous Systemscited by 6
  35. 2026World Engine: Towards the Era of Post-Training for Autonomous Drivingcited by 6
  36. 2021Edge Robotics: Edge-Computing-Accelerated Multi-Robot Simultaneous Localization and Mappingcited by 5
  37. 2023Adversarial Attacks and Defenses in Machine Learning-Powered Networks: A Contemporary Surveycited by 5
  38. 2023Adversarial Attacks and Defenses on 3D Point Cloud Classification: A Surveycited by 5

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