# A Survey on Theories and Applications for Self-Driving Cars Based on Deep Learning Methods
## 2 Development of Self-Driving Cars  
The rapid development of the Internet economy and Artificial Intelligence (AI) has promoted the progress of self-driving cars. The market demand and economic value of self-driving cars are increasingly prominent [3]. At present, more and more enterprises and scientific research institutions have invested in this field. Google, Tesla, Apple, Nissan, Audi, General Motors, BMW, Ford, Honda, Toyota, Mercedes, Nvidia, and Volkswagen have participated in the research and development of self-driving cars [8]. Google is an Internet company, which is one of the leaders in self-driving cars, based on its solid foundation in artificial intelligence [10]. In June 2015, two Google self-driving cars were tested on the road (as shown in Figure 1a). So far, Google vehicles have accumulated more than 3.2 million km of tests, becoming the closest to the actual use. Another company that has made great progress in the field of self-driving cars is Tesla. Tesla was the first company to devote self-driving technology to production. Followed by the Tesla models series, its \"auto-pilot\" technology has made major breakthroughs in recent years. Although the tesla's autopilot technology is only regarded as Level2 stage by the national highway traffic safety administration (NHTSA), as one of the most successful companies in autopilot system application by far, Tesla shows us that the car has basically realized automatic driving under certain conditions (see Figure 1b) [11]. In addition to the companies mentioned above, lots of Internet companies and car companies worldwide are also focusing on the self-driving car field recently. For example, in Sweden, Volvo and Autoliv established a joint company-Zenuity, which is committed to the security of self-driving cars [12]. In South Korea, Samsung received approval from the South Korean government to test its driverless cars on public roads in 2017. It should be noted that Samsung applied for the highest number of patents in the world in the field of self-driving cars from 2011 to 2017 [13]. In China, Baidu deep learning institute led the research project of self-driving cars in 2013. In 2014, Baidu established the automotive networking business division and successively launched CarLife, My-car, CoDriver and other products [14]. In 2016, Baidu held a strategic signing ceremony with Wuzhen  
Figure 1: Self-driving cars of Google and Tesla: (**a**) Google’s self-driving car; (**b**) Tesla’s self-driving car. Tourism, announcing that the unmanned driving at Level4 will be implemented in this scenic area (see Figure 2a). Other information technology (IT) companies in China also have intensively studied and made great progress in this field based on their technology in the field of artificial intelligence, such as Tencent, Alibaba, Huawei, and so on [15]. For example, Tencent has displayed the red flag Level3 self-driving car in cooperation with FAW (First Auto Work) (see Figure 2b). According to the autonomous driving level, a car in Level0 to Level2 needs a driver to mainly monitor the environment. Advanced Driver Assistance Systems (ADAS) are intelligent systems that reside inside the vehicles categorized from Level0 to Level2 and help the driver in the process of driving [16; 17]. The risks can be minimized based on the ADAS, such as the electronic stability control system and forward emergency braking system, by reducing driver errors, continuously alerting drivers, and controlling the vehicle if the driver is incompetent [18]. In this paper, we focus on self-driving cars which are categorized as level 3 or above. The overall technical framework of self-driving cars that are equipped with a Level3 or higher autonomy system can be divided into four parts, namely the driving environment perception system, the autonomous decision system, the control execution system and the monitor system [19].