China's 12-Year Quest of Autonomous Vehicular Intelligence: The Intelligent Vehicles Future Challenge Program

In this article, we introduce the Intelligent Vehicles Future Challenge of China (IVFC), which has lasted 12 years. Some key features of the tests and a few interesting findings of IVFC are selected and presented. Through the IVFCs held between 2009 and 2020, we gradually established a set of theories, methods, and tools to collect tests? data and efficiently evaluate the performance of autonomous vehicles so that we could learn how to improve both the autonomous vehicles and the testing system itself.