It has been a long time since the automated driving boom was announced. However, it has not been as
widespread as initially expected by society. The government is currently focusing on the widespread use
of Level 4 automated EV shuttle buses in order to solve social issues. This paper reviews these situations
and outlines the environment recognition methods using LiDAR (Light Detection And Ranging), one of
the main sensors for automated driving. The functions required for automated driving are self-localization
and obstacle recognition surrounding the vehicle, and the algorithms for realizing these functions are
explained. Additionally, for research on environmental recognition by deep neural network using millimeter-
wave radar, which the author is working on, examples of methods for generating the ground truth
are introduced since these are very critical for deep neural networks to ensure high estimation accuracy.
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