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首页2020年自动驾驶汽车技术报告-原版.pdf
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2020
AUTONOMOUS
VEHICLE
TECHNOLOGY
REPORT
The guide to understanding
the current state of the art
in hardware & software for
self-driving vehicles.
sponsored by

For the people who
aim to create a better
version of the future.

Contributors 6
Introduction 10
How this report came to be: a collaborative effort 11
Levels of Autonomy 14
Sensing 17
Environmental mapping 18
Passive sensors 18
Active Sensors 22
Choice of Sensors 28
Geolocalization 32
Maps 33
Thinking & Learning 35
SLAM and Sensor Fusion 35
Machine Learning Methods 38
Gathering Data 40
Path Planning 42
Acting 44
Architectures: Distributed versus Centralized 45
Power, Heat, Weight, and Size challenges 47
User experience 48
Inside the vehicle 51
The external experience 53
Communication & Connectivity 55
DSRC or C-V2X 59
Use case: Autonomous Racing 62
Summary 66
About Nexperia 68
About Wevolver 70
References 72

Contributors
Editor in Chief
Bram Geenen
Amsterdam, The Netherlands
CEO Wevolver.
Editors
Ali Nasseri
Vancouver, Canada
Lab manager at the Programming Lan-
guages for Articial Intelligence (PLAI)
research group at the University of British
Columbia.
Previously Chair of the Space Generation
Advisory Council.
Cum Laude PhD. in Engineering Physics,
Politecnico di Torino.
Adriaan Schiphorst
Amsterdam, The Netherlands
Technology journalist.
MSc Advanced Matter & Energy Physics at
University of Amsterdam and the California
Institute of Technology.
Previously editor at Amsterdam Science
Journal.
Contributing Experts
Norman di Palo
Rome, Italy
Robotics and Machine Learning researcher,
conducting research on machine learning
for computer vision and control at the Isti-
tuto Italiano di Tecnologia, Genova, Italia.
Cum Laude MSc. Engineering in Arti-
cial Intelligence and Robotics, Sapienza
Università di Roma, and graduate of the Pi
School of Articial Intelligence.
Jordan Sotudeh
Los Angeles, USA
Senior Strategic Analyst at NASA Jet Pro-
pulsion Laboratory.
Master International Science and Technol-
ogy Policy, Elliott School of International
Affairs, Washington DC, USA.
Matthew Nancekievill
Manchester, United Kingdom
Postdoctoral researcher submersible ro-
botics, University of Manchester, UK.
PhD. Electrical and Electronics Engineer-
ing, University of Manchester, UK.
CEO Ice Nine Robotics.
Jeremy Horne
San Felipe, Baja California, Mexico
President Emeritus of the American Asso-
ciation for the Advancement of Science,
Southwest Division.
Science advisor and curriculum coordina-
tor at the Inventors Assistance Center.
Ph.D. in philosophy from the University of
Florida, USA.
Drue Freeman
Cupertino, California, USA
CEO of the Association for Corporate
Growth, Silicon Valley.
Former Sr. Vice President of Global
Automotive Sales & Marketing for NXP
Semiconductors.
Board Director at Sand Hill Angels. Adviso-
ry Board Member of automotive companies
Savari and Ridar Systems, and Advisory
Board Member of Silicon Catalyst, a semi-
conductor focused incubator.
Bachelor of Science in Electrical Engineer-
ing, San Diego State University, MBA from
Pepperdine University, Los Angeles.
Akbar Ladak
Bangalore, India
Founder, CEO, Kaaenaat, which develops
autonomous robots for logistics, retail and
security use cases, as well as Advanced
Driver Assistance Systems (ADAS) for 2- &
4- wheeler vehicles for chaotic driving
conditions in Asia & Africa.
Master in Electrical Engineering, Georgia
Institute of Technology.
Zeljko Medenica
Birmingham, Michigan, USA
Principal Engineer and Human Machine
Interface (HMI) Team Lead at the US
R&D Center of Changan, a major Chinese
automobile manufacturer. Previously led
research on novel and intuitive HMI for
Advanced Driver Assistance Systems at
Honda.
PhD. in Electrical and Computer Engineer-
ing from the University of New Hampshire.
Maxime Flament
Brussels, Belgium
Chief Technology Ofcer, 5G Automotive
Association (5GAA)
PhD. in Wireless Communication Systems,
Chalmers University of Technology, Göte-
borg, Sweden.
Mark A. Crawford Jr.
Baoding City, China
Chief Engineer for Autonomous Driving
Systems at Great Wall Motor Co.
PhD. Industrial and Systems Engineering
- Global Executive Track, at Wayne State
University.
Previously Technical Expert at Ford.
William Morris
Detroit, Michigan, USA
Automotive engineer
Joakim Svennson
Norrköping, Sweden
Senior ADAS Engineer, Function Owner
Trafc Sign Recognition and Trafc Light
Recognition at Veoneer.
MSc. Media Technology, Linköping Univer-
sity, Sweden.
Fazal Chaudry
Headington, United Kingdom
Product Development Engineer.
Master of Science, Space Studies, Interna-
tional Space University, Illkirch Graffensta-
den, France.
Shlomit Hacohen
Tel Aviv, Israel
VP of Marketing at Arbe Robotics; develop-
ing ultra high-resolution 4D imaging radar
technology.
MBA at Technion, the Israel Institute of
Technology
Designer
Bureau Merkwaardig
Amsterdam, The Netherlands
Award winning designers Anouk de
l’Ecluse and Daphne de Vries are a creative
duo based in Amsterdam. They are special-
ized in visualizing the core of an artistic
problem. Bureau Merkwaardig initiates,
develops and designs.
Illustrations
Sabina Begović
Padua, Italy
Croation born Sabina is a visual and inter-
action designer. She obtained a Master’s in
Visual and Communication Design at Iuav,
University of Venice, and a Masters in Art
Education at the Academy of Applied Art,
Rijeka, Croatia.
Cover Photographer
Benedict Redgrove
London, United Kingdom
Benedict has a lifelong fascination with
technology, engineering, innovation and
industry, and is a dedicated proponent of
modernism. This has intuitively led him
to capturing projects and objects at their
most cutting edge. He has created an aes-
thetic of photography that is clean, pure
and devoid of any miscellaneous informa-
tion, winning him acclaim and numerous
awards.
Redgrove has amassed a following and
client base from some of the most ad-
vanced companies in the world. A career
spent recording the pioneering technol-
ogy of human endeavours has produce a
photographic art form that gives viewers a
window into an often unseen world, such
as Lockheed Martin Skunk Works, UK MoD,
European Space Agency, British Aerospace
and NASA. Whether capturing the U-2 re-
connaissance pilots and stealth planes, the
Navy Bomb Disposal Division or spending
time documenting the NASA’s past, present
and future, Benedict strives to capture
the scope and scale of advancements and
what they mean to us as human beings.
His many awards include the 2009 AOP
Silver, DCMS Best of British Creatives, and
the Creative Review Photography Annual
2003, 2008, and 2009.
At Wevolver we are a great fan of Bene-
dict’s work and how his pictures capture a
spirit of innovation. We’re grateful he has
enabled us to use his beautiful images of
the Robocar to form the perfect backdrop
for this report.
Many thanks to
The people at Roborace, specically Victo-
ria Tomlinson and Alan Cocks.
Edwin van de Merbel, Dirk Wittdorf, Petra
Beekmans - van Zijll and all the other
people at Nexperia for their support.
Our team at Wevolver; including Sander
Arts, Benjamin Carothers, Seth Nuzum,
Isidro Garcia, Jay Mapalad, and Richard
Hulskes. Many thanks for the proofreads
and feedback.
The Wevolver community for their support,
knowledge sharing, and for making us
create this report.
Many others that can’t all be listed here
have helped us in big or small ways. Thank
you all.
Beyond the people mentioned here we
owe greatly to the researchers, engineers,
writers, and many others who share their
knowledge online. Find their input in the
references.
Media Partner
Supplyframe
Supplyframe is a network for electronics
design and manufacturing. The company
provides open access to the world’s largest
collection of vertical search engines,
supply chain tools, and online communi-
ties for engineering. Their mission is to
organize the world of engineering knowl-
edge to help people build better hardware
products, and at Wevolver we support that
aspiration and greatly appreciate that Sup-
plyframe contributes to the distribution of
this report among their network.
6 7

“It’s been an enormously
difficult, complicated
slog, and it’s far more
complicated and involved
than we thought it would
be, but it is a huge deal.”
Nathaniel Fairfield,
distinguished software
engineer and leader of the
‘behavior team’ at Waymo,
December 2019
[1]
8 9
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