Skip to content

Self-Driving Cars

  • Autonomous driving stack: perception → prediction → planning → control
  • HD maps vs mapless driving: pre-built maps, online map construction
  • Motion prediction: trajectory forecasting, social forces, graph neural networks for agent interaction
  • Planning: rule-based planners, optimisation-based (trajectory optimisation), learning-based (neural planners)
  • End-to-end driving: UniAD, from sensor inputs directly to control outputs
  • Simulation: CARLA, nuPlan, closed-loop vs open-loop evaluation
  • Safety: functional safety (ISO 26262), SOTIF, operational design domain (ODD)
  • Levels of autonomy: SAE L1–L5, current industry state