This paper presents a survey of research on self-driving cars developed since the DARPA challenges, focusing on autonomous cars equipped with SAE level 3 or higher autonomy systems. The architecture of the autonomy system is typically divided into the perception system and the decision-making system. The perception system is responsible for tasks such as localization, static obstacle mapping, road mapping, moving obstacle detection and tracking, and traffic signalization detection and recognition. The decision-making system is responsible for tasks such as route planning, path planning, behavior selection, motion planning, obstacle avoidance, and control. The paper reviews research on relevant methods for perception and decision making, presents a detailed description of the architecture of the autonomy system of the self-driving car developed at the Universidade Federal do Espírito Santo (UFES), named Intelligent Autonomous Robotics Automobile (IARA), and lists prominent self-driving car research platforms developed by academia and technology companies. The paper also discusses the typical architecture of self-driving cars, including the perception system, decision-making system, and their subsystems. It presents research on important methods for the perception system, including localization, offline obstacle mapping, road mapping, moving obstacle tracking, and traffic signalization detection and recognition. It also presents research on relevant techniques for the decision-making system, comprising route planning, path planning, behavior selection, motion planning, obstacle avoidance, and control. The paper also discusses the architecture of the UFES's car, IARA, and lists prominent self-driving car research platforms developed by academia and technology companies.This paper presents a survey of research on self-driving cars developed since the DARPA challenges, focusing on autonomous cars equipped with SAE level 3 or higher autonomy systems. The architecture of the autonomy system is typically divided into the perception system and the decision-making system. The perception system is responsible for tasks such as localization, static obstacle mapping, road mapping, moving obstacle detection and tracking, and traffic signalization detection and recognition. The decision-making system is responsible for tasks such as route planning, path planning, behavior selection, motion planning, obstacle avoidance, and control. The paper reviews research on relevant methods for perception and decision making, presents a detailed description of the architecture of the autonomy system of the self-driving car developed at the Universidade Federal do Espírito Santo (UFES), named Intelligent Autonomous Robotics Automobile (IARA), and lists prominent self-driving car research platforms developed by academia and technology companies. The paper also discusses the typical architecture of self-driving cars, including the perception system, decision-making system, and their subsystems. It presents research on important methods for the perception system, including localization, offline obstacle mapping, road mapping, moving obstacle tracking, and traffic signalization detection and recognition. It also presents research on relevant techniques for the decision-making system, comprising route planning, path planning, behavior selection, motion planning, obstacle avoidance, and control. The paper also discusses the architecture of the UFES's car, IARA, and lists prominent self-driving car research platforms developed by academia and technology companies.