I. Introduction
The transportation industry is about to undergo unprecedentedly dramatic changes due to the technology of autonomous vehicles or self-driving cars. Since The Google self-driving car project (Waymo) [1] was revealed in 2010, this technology has been given priority by some business magnates such as Daimler [2], Nissan [3], Baidu [4]. Startups like drive.ai [5] and Otto [6] have been bent on relevant research and development. Support from government has been extended and intensified.