mlsanityData to 14 Oct 2026

Milestones in Autonomous Driving and Intelligent Vehicles: Survey of Surveys

arXiv 2303.17220 ↗First posted 30 Mar 2023cs.RO cs.AIcited by 75

Not on the map. Why?

Cited by 31 in End-to-end autonomous driving, but placed by its own abstract, which didn’t fit.

Abstract (arXiv)

Interest in autonomous driving (AD) and intelligent vehicles (IVs) is growing at a rapid pace due to the convenience, safety, and economic benefits. Although a number of surveys have reviewed research achievements in this field, they are still limited in specific tasks, lack of systematic summary and research directions in the future. Here we propose a Survey of Surveys (SoS) for total technologies of AD and IVs that reviews the history, summarizes the milestones, and provides the perspectives, ethics, and future research directions. To our knowledge, this article is the first SoS with milestones in AD and IVs, which constitutes our complete research work together with two other technical surveys. We anticipate that this article will bring novel and diverse insights to researchers and abecedarians, and serve as a bridge between past and future.

Key facts. Cited by 75 papers in the map (data through 14 Oct 2026). Builds on 55 of its 180 references that are in the map. First posted on arXiv 30 Mar 2023.

Builds on

55 of 180 references.

References · 55

  1. 2019nuScenes: A multimodal dataset for autonomous drivingcited by 4,523
  2. 2016The Cityscapes Dataset for Semantic Urban Scene Understandingcited by 4,444
  3. 2017CARLA: An Open Urban Driving Simulatorcited by 2,449
  4. 2018BDD100K: A Diverse Driving Dataset for Heterogeneous Multitask Learningcited by 1,288
  5. 2019Argoverse: 3D Tracking and Forecasting with Rich Mapscited by 732
  6. 2020Deep Reinforcement Learning for Autonomous Driving: A Surveycited by 721
  7. 2021Large Scale Interactive Motion Forecasting for Autonomous Driving : The Waymo Open Motion Datasetcited by 537
  8. 2017AirSim: High-Fidelity Visual and Physical Simulation for Autonomous Vehiclescited by 523
  9. 2019A Survey of Deep Learning Techniques for Autonomous Drivingcited by 403
  10. 2019A Survey of Autonomous Driving: Common Practices and Emerging Technologiescited by 379
  11. 2019Benchmarking Robustness in Object Detection: Autonomous Driving when Winter is Comingcited by 336
  12. 2019Deep Multi-modal Object Detection and Semantic Segmentation for Autonomous Driving: Datasets, Methods, and Challengescited by 314
38 more
  1. 2016A Survey of Motion Planning and Control Techniques for Self-driving Urban Vehiclescited by 254
  2. 2020One Thousand and One Hours: Self-driving Motion Prediction Datasetcited by 240
  3. 2021One Million Scenes for Autonomous Driving: ONCE Datasetcited by 218
  4. 2018The ApolloScape Open Dataset for Autonomous Driving and its Applicationcited by 190
  5. 2020A2D2: Audi Autonomous Driving Datasetcited by 190
  6. 2021PandaSet: Advanced Sensor Suite Dataset for Autonomous Drivingcited by 190
  7. 2017Computer Vision for Autonomous Vehicles: Problems, Datasets and State of the Artcited by 182
  8. 2019Self-Driving Cars: A Surveycited by 148
  9. 2020A Survey of End-to-End Driving: Architectures and Training Methodscited by 123
  10. 2020Deep Learning for LiDAR Point Clouds in Autonomous Driving: A Reviewcited by 116
  11. 2020A Review and Comparative Study on Probabilistic Object Detection in Autonomous Drivingcited by 115
  12. 2023Motion Planning for Autonomous Driving: The State of the Art and Future Perspectivescited by 114
  13. 2020Deep Learning for Image and Point Cloud Fusion in Autonomous Driving: A Reviewcited by 108
  14. 2019A Survey of Deep Learning Applications to Autonomous Vehicle Controlcited by 106
  15. 2017View Adaptive Recurrent Neural Networks for High Performance Human Action Recognition from Skeleton Datacited by 105
  16. 2021Explanations in Autonomous Driving: A Surveycited by 81
  17. 2019The H3D Dataset for Full-Surround 3D Multi-Object Detection and Tracking in Crowded Urban Scenescited by 80
  18. 2021Explainability of deep vision-based autonomous driving systems: Review and challengescited by 80
  19. 2018Autonomous Vehicles that Interact with Pedestrians: A Survey of Theory and Practicecited by 76
  20. 20203D Point Cloud Processing and Learning for Autonomous Drivingcited by 68
  21. 2019A*3D Dataset: Towards Autonomous Driving in Challenging Environmentscited by 65
  22. 2015The social dilemma of autonomous vehiclescited by 48
  23. 2020Computing Systems for Autonomous Driving: State-of-the-Art and Challengescited by 47
  24. 2020Autonomous Driving with Deep Learning: A Survey of State-of-Art Technologiescited by 41
  25. 2020Ford Multi-AV Seasonal Datasetcited by 39
  26. 2018A Commute in Data: The comma2k19 Datasetcited by 33
  27. 2019Deep Learning-based Vehicle Behaviour Prediction For Autonomous Driving Applications: A Reviewcited by 31
  28. 2021A Survey on Simulators for Testing Self-Driving Carscited by 27
  29. 2020A Survey on Autonomous Vehicle Control in the Era of Mixed-Autonomy: From Physics-Based to AI-Guided Driving Policy Learningcited by 25
  30. 2017Deep Semantic Segmentation for Automated Driving: Taxonomy, Roadmap and Challengescited by 24
  31. 2021MmWave Radar and Vision Fusion for Object Detection in Autonomous Driving: A Reviewcited by 23
  32. 2018Governing autonomous vehicles: emerging responses for safety, liability, privacy, cybersecurity, and industry riskscited by 21
  33. 2018A Brief Survey and an Application of Semantic Image Segmentation for Autonomous Drivingcited by 19
  34. 2019A Review of Tracking, Prediction and Decision Making Methods for Autonomous Drivingcited by 17
  35. 2018Control of Connected and Automated Vehicles: State of the Art and Future Challengescited by 11
  36. 2019A Review on Energy, Environmental, and Sustainability Implications of Connected and Automated Vehiclescited by 7
  37. 2019A Survey of Simultaneous Localization and Mapping with an Envision in 6G Wireless Networkscited by 7
  38. 2017Cooperative Automated Vehicles: a Review of Opportunities and Challenges in Socially Intelligent Vehicles Beyond Networkingcited by 6

50 most cited of 55 All 55 (JSON)

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Cited by year (2026 to 14 Oct)

Citing papers per year: 2023: 21; 2024: 28; 2025: 18; 2026: 8.

75 papers.

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  1. 2023A Survey on Multimodal Large Language Models for Autonomous Drivingcited by 290
  2. 2023DiLu: A Knowledge-Driven Approach to Autonomous Driving with Large Language Modelscited by 207
  3. 2023Drive Like a Human: Rethinking Autonomous Driving with Large Language Modelscited by 160
  4. 2024A Survey on Autonomous Driving Datasets: Statistics, Annotation Quality, and a Future Outlookcited by 66
  5. 2023How Simulation Helps Autonomous Driving:A Survey of Sim2real, Digital Twins, and Parallel Intelligencecited by 58
  6. 2023Federated Learning for Connected and Automated Vehicles: A Survey of Existing Approaches and Challengescited by 40
  7. 2024Asynchronous Large Language Model Enhanced Planner for Autonomous Drivingcited by 38
  8. 2024LC-LLM: Explainable Lane-Change Intention and Trajectory Predictions with Large Language Modelscited by 35
  9. 2024WcDT: World-centric Diffusion Transformer for Traffic Scene Generationcited by 32
  10. 2024Multi-Agent Reinforcement Learning for Autonomous Driving: A Surveycited by 32
  11. 2023Towards Knowledge-driven Autonomous Drivingcited by 29
  12. 2023Milestones in Autonomous Driving and Intelligent Vehicles Part I: Control, Computing System Design, Communication, HD Map, Testing, and Human Behaviorscited by 25
38 more
  1. 2023Robust Visual Question Answering: Datasets, Methods, and Future Challengescited by 23
  2. 2024ConjNorm: Tractable Density Estimation for Out-of-Distribution Detectioncited by 22
  3. 2024AdvDiffuser: Generating Adversarial Safety-Critical Driving Scenarios via Guided Diffusioncited by 20
  4. 2025Reinforced Refinement with Self-Aware Expansion for End-to-End Autonomous Drivingcited by 19
  5. 2024Hybrid-Prediction Integrated Planning for Autonomous Drivingcited by 18
  6. 2024Adversarial Safety-Critical Scenario Generation using Naturalistic Human Driving Priorscited by 15
  7. 2025InsightDrive: Insight Scene Representation for End-to-End Autonomous Drivingcited by 14
  8. 2025TeLL-Drive: Enhancing Autonomous Driving with Teacher LLM-Guided Deep Reinforcement Learningcited by 13
  9. 2023Select2Col: Leveraging Spatial-Temporal Importance of Semantic Information for Efficient Collaborative Perceptioncited by 12
  10. 2023Towards Socially Responsive Autonomous Vehicles: A Reinforcement Learning Framework with Driving Priors and Coordination Awarenesscited by 12
  11. 2024Computational Experiments Meet Large Language Model Based Agents: A Survey and Perspectivecited by 11
  12. 2025Towards Human-Centric Autonomous Driving: A Fast-Slow Architecture Integrating Large Language Model Guidance with Reinforcement Learningcited by 11
  13. 2023Deep Transfer Learning for Intelligent Vehicle Perception: a Surveycited by 10
  14. 2023PillarNeSt: Embracing Backbone Scaling and Pretraining for Pillar-based 3D Object Detectioncited by 10
  15. 2023Milestones in Autonomous Driving and Intelligent Vehicles Part II: Perception and Planningcited by 9
  16. 2023Occupancy Prediction-Guided Neural Planner for Autonomous Drivingcited by 8
  17. 2025Real-time Traffic Accident Anticipation with Feature Reusecited by 8
  18. 2023Domain Adaptation based Object Detection for Autonomous Driving in Foggy and Rainy Weathercited by 7
  19. 2023FusionPlanner: A Multi-task Motion Planner for Mining Trucks via Multi-sensor Fusioncited by 7
  20. 2024Joint Perception and Prediction for Autonomous Driving: A Surveycited by 7
  21. 2026XStreamVGGT: Extremely Memory-Efficient Streaming Vision Geometry Grounded Transformer with KV Cache Compressioncited by 7
  22. 2024Autonomous Driving Small-Scale Cars: A Survey of Recent Developmentcited by 6
  23. 2024Model Partition and Resource Allocation for Split Learning in Vehicular Edge Networkscited by 6
  24. 2025SIMAC: A Semantic-Driven Integrated Multimodal Sensing And Communication Frameworkcited by 6
  25. 2026Driver-WM: A Driver-Centric Traffic-Conditioned Latent World Model for In-Cabin Dynamics Rolloutcited by 6
  26. 2024PC-NeRF: Parent-Child Neural Radiance Fields Using Sparse LiDAR Frames in Autonomous Driving Environmentscited by 5
  27. 2024Long and Short-Term Constraints Driven Safe Reinforcement Learning for Autonomous Drivingcited by 4
  28. 2024Online Analytic Exemplar-Free Continual Learning with Large Models for Imbalanced Autonomous Driving Taskcited by 4
  29. 2025HCRMP: A LLM-Hinted Contextual Reinforcement Learning Framework for Autonomous Drivingcited by 4
  30. 2025Interpretable Decision-Making for End-to-End Autonomous Drivingcited by 4
  31. 2023Learning Task-preferred Inference Routes for Gradient De-conflict in Multi-output DNNscited by 3
  32. 2023SSC3OD: Sparsely Supervised Collaborative 3D Object Detection from LiDAR Point Cloudscited by 3
  33. 2023Self-supervised Adaptive Weighting for Cooperative Perception in V2V Communicationscited by 3
  34. 2023A Novel Driver Distraction Behavior Detection Method Based on Self-supervised Learning with Masked Image Modelingcited by 2
  35. 2023What Matters to Enhance Traffic Rule Compliance of Imitation Learning for End-to-End Autonomous Drivingcited by 2
  36. 2024Safe Road-Crossing by Autonomous Wheelchairs: a Novel Dataset and its Experimental Evaluationcited by 2
  37. 2025A Survey of Reinforcement Learning-Based Motion Planning for Autonomous Driving: Lessons Learned from a Driving Task Perspectivecited by 2
  38. 2025A Concise Survey on Lane Topology Reasoning for HD Mappingcited by 2

50 most cited of 75 All 75 (JSON)