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 Espírito 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.

我们对文献中针对自动驾驶汽车的研究进行了调查，这些研究的重点是自DARPA挑战以来开发的自动驾驶汽车，这些自动驾驶汽车配备了可以归类为SAE 3级或更高级别的自动驾驶系统。无人驾驶汽车自动驾驶系统的体系结构通常分为感知系统和决策系统。感知系统通常分为许多子系统，这些子系统负责诸如自动驾驶汽车定位，静态障碍物映射，移动障碍物检测和跟踪，道路映射，交通信号化检测和识别等任务。决策系统通常也分为许多子系统，这些子系统负责诸如路线计划，路径计划，行为选择，运动计划和控制之类的任务。在这项调查中 我们介绍了自动驾驶汽车自动驾驶系统的典型架构。我们还将回顾有关感知和决策的相关方法的研究。此外，我们将详细介绍由圣埃斯皮里图联邦大学（UFES）开发的自动驾驶汽车自主系统的体系结构，该系统被称为智能自主机器人汽车（IARA）。最后，我们列出了由学术界和科技公司开发并在媒体上报道的著名的自动驾驶汽车研究平台。名为智能自主机器人汽车（IARA）。最后，我们列出了由学术界和科技公司开发并在媒体上报道的著名的自动驾驶汽车研究平台。名为智能自主机器人汽车（IARA）。最后，我们列出了由学术界和科技公司开发并在媒体上报道的著名的自动驾驶汽车研究平台。