Autonomous Driving Architectures: Insights of Machine Learning and Deep Learning Algorithms

Abstract

Research in Autonomous Driving is taking momentum due to the inherent advantages of autonomous driving systems. The main advantage being the disassociation of the driver from the vehicle reducing the human intervention. However, the Autonomous Driving System involves many subsystems which need to be integrated as a whole system. Some of the tasks include Motion Planning, Vehicle Localization, Pedestrian Detection, Traffic Sign Detection, Road-marking Detection, Automated Parking, Vehicle Cybersecurity, and System Fault Diagnosis.This paper aims to the overview of various Machine Learning and Deep Learning Algorithms used in Autonomous Driving Architectures for different tasks like Motion Planning, Vehicle Localization, Pedestrian Detection, Traffic Sign Detection, Road-marking Detection, Automated Parking, Vehicle Cybersecurity and Fault Diagnosis. This paper surveys the technical aspects of Machine Learning and Deep Learning Algorithms used for Autonomous Driving Systems. Comparison of these algorithms is done based on the metrics like mean Intersect in over Union (mIoU), Average Precision (AP)missed detection rate, miss rate False Positives Per Image (FPPI), and average number for false frame detection.This study contributes to picture a review of the Machine Learning and Deep Learning Algorithms used for Autonomous Driving Systems and is organized based on the different tasks of the system.

Keywords

• Autonomous Driving
• Localization
• Motion planning
• Pedestrian detection
• Perception
• Taxonomy