Creating Autonomous Vehicle Systems, Second Edition
Shaoshan Liu, PerceptIn
Liyun Li, Xpeng Motors
Jie Tang, South China University of Technology
Shuang Wu, YiTu
Jean-Luc Gaudiot, University of California, Irvine
This book is one of the first technical overviews of autonomous vehicles written for a general computing
and engineering audience. The authors share their practical experiences designing autonomous vehicle
systems. These systems are complex, consisting of three major subsystems: (1) algorithms for localization,
perception, and planning and control; (2) client systems, such as the robotics operating system and hardware
platform; and (3) the cloud platform, which includes data storage, simulation, high-definition (HD)
mapping, and deep learning model training. The algorithm subsystem extracts meaningful information
from sensor raw data to understand its environment and make decisions as to its future actions. The client
subsystem integrates these algorithms to meet real-time and reliability requirements. The cloud platform
provides offline computing and storage capabilities for autonomous vehicles. Using the cloud platform, new
algorithms can be tested so as to update the HD map—in addition to training better recognition, tracking,
and decision models.
Since the first edition of this book was released, many universities have adopted it in their
autonomous driving classes, and the authors received many helpful comments and feedback from readers.
Based on this, the second edition was improved by extending and rewriting multiple chapters and adding
two commercial test case studies. In addition, a new section entitled “Teaching and Learning from this Book”
was added to help instructors better utilize this book in their classes. The second edition captures the latest
advances in autonomous driving and that it also presents usable real-world case studies to help readers better
understand how to utilize their lessons in commercial autonomous driving
Creating Autonomous Vehicle Systems_Shaoshan Liu, Liyun Li, Jie Tang, Shuang Wu, and Jean-Luc Gaudiot.pdf