mlsanityData to 7 Oct 2026

A Survey of Autonomous Driving: Common Practices and Emerging Technologies

arXiv 1906.05113 ↗First posted 12 Jun 2019cs.RO cs.SY eess.SYcited by 373

Not on the map. Why?

Cited by 82 in End-to-end autonomous driving, but placed by its own abstract, which didn’t fit.

Abstract (arXiv)

Automated driving systems (ADSs) promise a safe, comfortable and efficient driving experience. However, fatalities involving vehicles equipped with ADSs are on the rise. The full potential of ADSs cannot be realized unless the robustness of state-of-the-art improved further. This paper discusses unsolved problems and surveys the technical aspect of automated driving. Studies regarding present challenges, high-level system architectures, emerging methodologies and core functions: localization, mapping, perception, planning, and human machine interface, were thoroughly reviewed. Furthermore, the state-of-the-art was implemented on our own platform and various algorithms were compared in a real-world driving setting. The paper concludes with an overview of available datasets and tools for ADS development.

Key facts. Cited by 373 papers in the map (data through 7 Oct 2026). First posted on arXiv 12 Jun 2019.

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Cited by year (2026 to 7 Oct)

Citing papers per year: 2020: 2; 2021: 52; 2022: 50; 2023: 56; 2024: 86; 2025: 78; 2026: 49.

373 papers.

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  1. 2020Offline Reinforcement Learning: Tutorial, Review, and Perspectives on Open Problemscited by 1,873
  2. 2023DETRs Beat YOLOs on Real-time Object Detectioncited by 526
  3. 2022ST-P3: End-to-end Vision-based Autonomous Driving via Spatial-Temporal Feature Learningcited by 365
  4. 2023A Survey on Multimodal Large Language Models for Autonomous Drivingcited by 288
  5. 2021Bridging Offline Reinforcement Learning and Imitation Learning: A Tale of Pessimismcited by 275
  6. 2025MoGe-2: Accurate Monocular Geometry with Metric Scale and Sharp Detailscited by 250
  7. 2024EMMA: End-to-End Multimodal Model for Autonomous Drivingcited by 226
  8. 2024Lotus: Diffusion-based Visual Foundation Model for High-quality Dense Predictioncited by 163
  9. 2025A Survey of Efficient Reasoning for Large Reasoning Models: Language, Multimodality, and Beyondcited by 131
  10. 2023Vision Language Models in Autonomous Driving: A Survey and Outlookcited by 124
  11. 2023Dolphins: Multimodal Language Model for Drivingcited by 124
  12. 2021Invisible for both Camera and LiDAR: Security of Multi-Sensor Fusion based Perception in Autonomous Driving Under Physical-World Attackscited by 101
38 more
  1. 2023Recent Advancements in End-to-End Autonomous Driving using Deep Learning: A Surveycited by 101
  2. 2021CondLaneNet: a Top-to-down Lane Detection Framework Based on Conditional Convolutioncited by 95
  3. 2024OpenEMMA: Open-Source Multimodal Model for End-to-End Autonomous Drivingcited by 93
  4. 2024A Survey of Attacks on Large Vision-Language Models: Resources, Advances, and Future Trendscited by 82
  5. 2021Explainability of deep vision-based autonomous driving systems: Review and challengescited by 80
  6. 2021Explanations in Autonomous Driving: A Surveycited by 80
  7. 2023ADAPT: Action-aware Driving Caption Transformercited by 78
  8. 2023Milestones in Autonomous Driving and Intelligent Vehicles: Survey of Surveyscited by 75
  9. 2021Explainable Artificial Intelligence for Autonomous Driving: A Comprehensive Overview and Field Guide for Future Research Directionscited by 73
  10. 2024GIM: Learning Generalizable Image Matcher From Internet Videoscited by 72
  11. 2024A Survey on Autonomous Driving Datasets: Statistics, Annotation Quality, and a Future Outlookcited by 65
  12. 2025WOD-E2E: Waymo Open Dataset for End-to-End Driving in Challenging Long-tail Scenarioscited by 60
  13. 2023PerceptionGPT: Effectively Fusing Visual Perception into LLMcited by 59
  14. 2022Residual Pattern Learning for Pixel-wise Out-of-Distribution Detection in Semantic Segmentationcited by 55
  15. 2021Beyond Classification: Directly Training Spiking Neural Networks for Semantic Segmentationcited by 54
  16. 2021Exploiting a Joint Embedding Space for Generalized Zero-Shot Semantic Segmentationcited by 53
  17. 2021OMNet: Learning Overlapping Mask for Partial-to-Partial Point Cloud Registrationcited by 50
  18. 2021SmoothMix: Training Confidence-calibrated Smoothed Classifiers for Certified Robustnesscited by 49
  19. 2021A Review on Explainability in Multimodal Deep Neural Netscited by 46
  20. 2024Stream Query Denoising for Vectorized HD Map Constructioncited by 43
  21. 2021MultiSiam: Self-supervised Multi-instance Siamese Representation Learning for Autonomous Drivingcited by 41
  22. 2025iPad: Iterative Proposal-centric End-to-End Autonomous Drivingcited by 41
  23. 2025Matrix-3D: Omnidirectional Explorable 3D World Generationcited by 33
  24. 2021NeBula: Quest for Robotic Autonomy in Challenging Environments; TEAM CoSTAR at the DARPA Subterranean Challengecited by 32
  25. 2023Real-Time Motion Prediction via Heterogeneous Polyline Transformer with Relative Pose Encodingcited by 32
  26. 2022Distributionally Robust Offline Reinforcement Learning with Linear Function Approximationcited by 31
  27. 2022A General Framework for Sample-Efficient Function Approximation in Reinforcement Learningcited by 31
  28. 2023The Integration of Prediction and Planning in Deep Learning Automated Driving Systems: A Reviewcited by 29
  29. 2023Towards Knowledge-driven Autonomous Drivingcited by 29
  30. 2024Monocular Occupancy Prediction for Scalable Indoor Scenescited by 29
  31. 2023DiffCPS: Diffusion Model based Constrained Policy Search for Offline Reinforcement Learningcited by 27
  32. 2024UniMLVG: Unified Framework for Multi-view Long Video Generation with Comprehensive Control Capabilities for Autonomous Drivingcited by 27
  33. 2021A Survey on Simulators for Testing Self-Driving Carscited by 26
  34. 2023Semantic Image Segmentation: Two Decades of Researchcited by 26
  35. 2023A Machine Learning-oriented Survey on Tiny Machine Learningcited by 26
  36. 2023Choose Your Simulator Wisely: A Review on Open-source Simulators for Autonomous Drivingcited by 26
  37. 2021Near-field Perception for Low-Speed Vehicle Automation using Surround-view Fisheye Camerascited by 24
  38. 2022When the Sun Goes Down: Repairing Photometric Losses for All-Day Depth Estimationcited by 24

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