This paper provides a comprehensive survey of the current state and emerging technologies in autonomous driving systems (ADSs). It discusses the unsolved challenges, high-level system architectures, and core functions such as localization, mapping, perception, planning, and human-machine interfaces. The authors review state-of-the-art algorithms and compare them on a real-world driving platform. The paper also covers available datasets and tools for ADS development, highlighting the potential benefits and societal impact of ADSs, including reduced accidents, emissions, and improved mobility for the elderly and disabled. However, it notes that widespread deployment is hindered by technical challenges, such as robustness in urban environments and the need for high redundancy and certification. The paper concludes with an overview of common practices and emerging trends, such as end-to-end driving and connected systems, and emphasizes the importance of sensor fusion and multi-modal perception to address these challenges.This paper provides a comprehensive survey of the current state and emerging technologies in autonomous driving systems (ADSs). It discusses the unsolved challenges, high-level system architectures, and core functions such as localization, mapping, perception, planning, and human-machine interfaces. The authors review state-of-the-art algorithms and compare them on a real-world driving platform. The paper also covers available datasets and tools for ADS development, highlighting the potential benefits and societal impact of ADSs, including reduced accidents, emissions, and improved mobility for the elderly and disabled. However, it notes that widespread deployment is hindered by technical challenges, such as robustness in urban environments and the need for high redundancy and certification. The paper concludes with an overview of common practices and emerging trends, such as end-to-end driving and connected systems, and emphasizes the importance of sensor fusion and multi-modal perception to address these challenges.