# Towards Autonomous Riding: A Review of Perception, Planning, and Control in Intelligent Two-Wheelers

arXiv: https://arxiv.org/abs/2507.11852 · HTML: https://mlsanity.com/paper/2507.11852/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Builds on 48 of its 143 references that are in the map.
- First posted on arXiv 16 Jul 2025.

## Builds on (most cited first, 30 of 48)

- [Attention Is All You Need](https://mlsanity.com/paper/1706.03762/) (2017)
- [Learning Transferable Visual Models From Natural Language Supervision](https://mlsanity.com/paper/2103.00020/) (2021)
- [Proximal Policy Optimization Algorithms](https://mlsanity.com/paper/1707.06347/) (2017)
- [Emerging Properties in Self-Supervised Vision Transformers](https://mlsanity.com/paper/2104.14294/) (2021)
- [You Only Look Once: Unified, Real-Time Object Detection](https://mlsanity.com/paper/1506.02640/) (2015)
- [MobileNetV2: Inverted Residuals and Linear Bottlenecks](https://mlsanity.com/paper/1801.04381/) (2018)
- [nuScenes: A multimodal dataset for autonomous driving](https://mlsanity.com/paper/1903.11027/) (2019)
- [The Cityscapes Dataset for Semantic Urban Scene Understanding](https://mlsanity.com/paper/1604.01685/) (2016)
- [MobileNets: Efficient Convolutional Neural Networks for Mobile Vision Applications](https://mlsanity.com/paper/1704.04861/) (2017)
- [SSD: Single Shot MultiBox Detector](https://mlsanity.com/paper/1512.02325/) (2015)
- [Fast R-CNN](https://mlsanity.com/paper/1504.08083/) (2015)
- [YOLOv3: An Incremental Improvement](https://mlsanity.com/paper/1804.02767/) (2018)
- [Scalability in Perception for Autonomous Driving: Waymo Open Dataset](https://mlsanity.com/paper/1912.04838/) (2019)
- [CARLA: An Open Urban Driving Simulator](https://mlsanity.com/paper/1711.03938/) (2017)
- [BDD100K: A Diverse Driving Dataset for Heterogeneous Multitask Learning](https://mlsanity.com/paper/1805.04687/) (2018)
- [EfficientDet: Scalable and Efficient Object Detection](https://mlsanity.com/paper/1911.09070/) (2019)
- [Simple Online and Realtime Tracking with a Deep Association Metric](https://mlsanity.com/paper/1703.07402/) (2017)
- [Argoverse: 3D Tracking and Forecasting with Rich Maps](https://mlsanity.com/paper/1911.02620/) (2019)
- [AirSim: High-Fidelity Visual and Physical Simulation for Autonomous Vehicles](https://mlsanity.com/paper/1705.05065/) (2017)
- [InternImage: Exploring Large-Scale Vision Foundation Models with Deformable Convolutions](https://mlsanity.com/paper/2211.05778/) (2022)
- [DETRs with Collaborative Hybrid Assignments Training](https://mlsanity.com/paper/2211.12860/) (2022)
- [A Survey of Motion Planning and Control Techniques for Self-driving Urban Vehicles](https://mlsanity.com/paper/1604.07446/) (2016)
- [Human Motion Trajectory Prediction: A Survey](https://mlsanity.com/paper/1905.06113/) (2019)
- [Deep Reinforcement Learning framework for Autonomous Driving](https://mlsanity.com/paper/1704.02532/) (2017)
- [Computer Vision for Autonomous Vehicles: Problems, Datasets and State of the Art](https://mlsanity.com/paper/1704.05519/) (2017)
- [Person Re-identification: Past, Present and Future](https://mlsanity.com/paper/1610.02984/) (2016)
- [Toronto-3D: A Large-scale Mobile LiDAR Dataset for Semantic Segmentation of Urban Roadways](https://mlsanity.com/paper/2003.08284/) (2020)
- [A*3D Dataset: Towards Autonomous Driving in Challenging Environments](https://mlsanity.com/paper/1909.07541/) (2019)
- [Visual Attention Methods in Deep Learning: An In-Depth Survey](https://mlsanity.com/paper/2204.07756/) (2022)
- [Spectral Temporal Graph Neural Network for Trajectory Prediction](https://mlsanity.com/paper/2106.02930/) (2021)

## Abstract (arXiv)

The rapid adoption of micromobility solutions, particularly two-wheeled vehicles like e-scooters and e-bikes, has created an urgent need for reliable autonomous riding (AR) technologies. While autonomous driving (AD) systems have matured significantly, AR presents unique challenges due to the inherent instability of two-wheeled platforms, limited size, limited power, and unpredictable environments, which pose very serious concerns about road users' safety. This review provides a comprehensive analysis of AR systems by systematically examining their core components, perception, planning, and control, through the lens of AD technologies. We identify critical gaps in current AR research, including a lack of comprehensive perception systems for various AR tasks, limited industry and government support for such developments, and insufficient attention from the research community. The review analyses the gaps of AR from the perspective of AD to highlight promising research directions, such as multimodal sensor techniques for lightweight platforms and edge deep learning architectures. By synthesising insights from AD research with the specific requirements of AR, this review aims to accelerate the development of safe, efficient, and scalable autonomous riding systems for future urban mobility.