| 1. | EXECUTIVE SUMMARY | 
| 1.1. | Heavy-duty autonomous vehicles report | 
| 1.2. | What makes it a roboshuttle? | 
| 1.3. | Distribution of roboshuttle cities | 
| 1.4. | Autonomous bus introduction | 
| 1.5. | Categories of bus | 
| 1.6. | Autonomous trucking - the right conditions right now | 
| 1.7. | Why Automate Trucks? | 
| 1.8. | Technology Readiness | 
| 1.9. | Different powertrains for different vehicles | 
| 1.10. | Types of service for roboshuttles and buses | 
| 1.11. | Business model options for autonomous trucks | 
| 1.12. | Number Of Active Companies | 
| 1.13. | The Sensor Trifactor | 
| 1.14. | Sensor suites for heavy-duty autonomous vehicles | 
| 1.15. | SWOT analysis and comparisons for roboshuttles, autonomous buses and autonomous trucks. | 
| 1.16. | Commercial readiness and opportunity comparison, roboshuttle, autonomous buses, autonomous trucks. | 
| 1.17. | IDTechEx predicted timelines | 
| 1.18. | Roboshuttle fleet size and unit sales 2020-2043 | 
| 1.19. | Roboshuttle revenues, vehicle sales and passenger fares 2020-2043 | 
| 1.20. | Autonomous bus unit sales 2023-2043 | 
| 1.21. | Autonomous bus revenue 2023-2043 | 
| 1.22. | Heavy Duty Trucking Unit Sales 2022-2042 | 
| 1.23. | Heavy Duty Trucking Revenue 2022-2042 | 
| 1.24. | Heavy Duty Autonomous Unit Sales 2023-2043 | 
| 1.25. | Heavy Duty Autonomous Revenue 2023-2043 | 
| 1.26. | Sensors for Heavy Duty Autonomous Vehicles 2023-2043 | 
| 1.27. | Access to 20 IDTechEx Portal Company Profiles | 
| 2. | ROBOSHUTTLES: PLAYERS AND ANALYSIS | 
| 2.1. | Introduction | 
| 2.1.1. | Key Takeaways For Roboshuttles | 
| 2.1.2. | What Makes it a Roboshuttle? - Part 1 | 
| 2.1.3. | What Makes it a Roboshuttle? - Part 2 | 
| 2.1.4. | Table Comparison Of Active Companies (1) | 
| 2.1.5. | Table Comparison Of Active Companies (2) | 
| 2.1.6. | Table Comparison Of Active Companies (3) | 
| 2.1.7. | Funding | 
| 2.1.8. | EasyMile | 
| 2.1.9. | EasyMile Real World Trials And Testing | 
| 2.1.10. | EasyMile Business Model | 
| 2.1.11. | Navya | 
| 2.1.12. | Navya Testing Locations | 
| 2.1.13. | Navya Use Case Examples | 
| 2.1.14. | Navya's Installation Process | 
| 2.1.15. | Navya's Business Model | 
| 2.1.16. | ZF - A Robot Shuttle Future. | 
| 2.1.17. | ZF - Robot Shuttle Deployment | 
| 2.1.18. | ZF 2getthere Trial in Saudi Arabia | 
| 2.1.19. | Coast | 
| 2.1.20. | Cruise Origin | 
| 2.1.21. | Toyota e-PALETTE | 
| 2.1.22. | Sensible 4 - GACHA | 
| 2.1.23. | IAV and the HEAT project | 
| 2.1.24. | Lohr, Torc and Transdev | 
| 2.1.25. | Torc/Lohr i-Cristal Sensor Suite | 
| 2.1.26. | May Mobility | 
| 2.1.27. | NEVS | 
| 2.1.28. | Ohmio - Lift | 
| 2.1.29. | Yutong | 
| 2.1.30. | Apollo - Autonomous Branch of Baidu | 
| 2.1.31. | Higer | 
| 2.1.32. | Zoox | 
| 2.1.33. | Zoox Sensor Suite | 
| 2.1.34. | Service Providers | 
| 2.2. | Roboshuttle projects that have discontinued | 
| 2.2.1. | Continental | 
| 2.2.2. | Bosch | 
| 2.2.3. | Local Motors - Olli | 
| 2.2.4. | e.Go Moove | 
| 2.2.5. | DGWORLD | 
| 2.2.6. | Projects That Are No Longer Active (1) | 
| 2.2.7. | Projects That Are No Longer Active (2) | 
| 2.2.8. | Projects That Are No Longer Active (3) | 
| 2.3. | Roboshuttles analysis and conclusions | 
| 2.3.1. | Technology Readiness | 
| 2.3.2. | Decline in Roboshuttle Companies | 
| 2.3.3. | Technology Readiness - Still Active | 
| 2.3.4. | Where Players Exit | 
| 2.3.5. | Where Are Players In The Value Chain | 
| 2.3.6. | Speed And Distance | 
| 2.3.7. | Passenger Capacity | 
| 2.3.8. | Total Cost of Ownership Analysis | 
| 2.3.9. | Reasons Roboshuttles Will Succeed | 
| 2.3.10. | Reasons Roboshuttles Will Fail | 
| 2.3.11. | IDTechEx Opinion On Roboshuttles | 
| 3. | AUTONOMOUS BUSES: PLAYERS AND ANALYSIS | 
| 3.1. | Introduction | 
| 3.1.1. | Categories of Bus | 
| 3.1.2. | Bus Category Sizing | 
| 3.1.3. | Reasons to automate | 
| 3.1.4. | Types Of Autonomous Services | 
| 3.1.5. | Challenges Of Automating | 
| 3.1.6. | Table Comparison Of Active Players (1) | 
| 3.1.7. | Table Comparison Of Active Players (2) | 
| 3.1.8. | Table Comparison Of Active Players (3) | 
| 3.2. | Players - Minibuses | 
| 3.2.1. | King Long | 
| 3.2.2. | Aurrigo | 
| 3.2.3. | Hyundai Autonomous Bus | 
| 3.2.4. | Volkswagen | 
| 3.2.5. | Volkswagen ID.Buzz - Sensor Suite | 
| 3.2.6. | Volkswagens MOIA Project | 
| 3.2.7. | Perrone Robotics - Overview | 
| 3.2.8. | Perrone Robotics - Sensor Suite | 
| 3.2.9. | Perrone Robotics - Deployment And Planned Rollout | 
| 3.3. | Players - Midibuses | 
| 3.3.1. | ADASTEC and Karsan | 
| 3.3.2. | ADASTEC And Karsan - Sensor Suite | 
| 3.3.3. | Golden Dragon ASTAR | 
| 3.3.4. | QCraft | 
| 3.3.5. | QCraft - Sensor Suite | 
| 3.3.6. | LILEE | 
| 3.3.7. | Zhongtong | 
| 3.4. | Players - City Buses | 
| 3.4.1. | Fusion Processing - Overview | 
| 3.4.2. | Fusion Processing - Testing and Trials | 
| 3.4.3. | ST Engineering | 
| 3.4.4. | ANA and BYD - Airport Bus Trials | 
| 3.4.5. | New Flyer - Overview | 
| 3.4.6. | New Flyer - Sensor Suite | 
| 3.4.7. | Irizar | 
| 3.4.8. | Iveco | 
| 3.4.9. | DeepBlue | 
| 3.5. | Companies No Longer Active In Autonomous Buses | 
| 3.5.1. | Daimler | 
| 3.5.2. | Scania | 
| 3.5.3. | Proterra | 
| 3.5.4. | Other Big Players Either Not Involved Or Stopped | 
| 3.6. | Autonomous Bus Analysis | 
| 3.6.1. | Bus Sizes | 
| 3.6.2. | Activity | 
| 3.6.3. | Technology Readiness | 
| 3.6.4. | Few Large Trials | 
| 3.6.5. | Vehicle Type Vs Company Type | 
| 3.6.6. | Lack Of Start-Ups, Driven By Established OEMs | 
| 3.6.7. | Options For Early Deployments Of Autonomous Tech | 
| 3.6.8. | Autonomous Bus Deployments In Other ODDs | 
| 3.6.9. | Companies Spread  Across The World | 
| 3.6.10. | Drivetrains - Most Are Thinking Electric | 
| 3.6.11. | Reasons Autonomous Buses Will Be A Success | 
| 3.6.12. | Reasons Autonomous Buses Will Fail | 
| 3.6.13. | IDTechEx Opinion On Autonomous Buses | 
| 4. | AUTONOMOUS TRUCKS: PLAYERS AND ANALYSIS | 
| 4.1. | Introduction | 
| 4.1.1. | Pain points in the trucking industry | 
| 4.1.2. | Why Automate Trucks? | 
| 4.1.3. | SAE levels of automation | 
| 4.1.4. | Level-2 And Level-4 Trucking | 
| 4.1.5. | Level-4 MaaS for trucking | 
| 4.1.6. | Authorities for regulating autonomous driving | 
| 4.1.7. | The Autonomous Legal Race | 
| 4.2. | Players - Start-ups | 
| 4.2.1. | Funding and Maturity | 
| 4.2.2. | TuSimple - Overview | 
| 4.2.3. | TuSimple's AFN | 
| 4.2.4. | TuSimple's unique perception solution | 
| 4.2.5. | Perception system of TuSimple's autonomous trucks | 
| 4.2.6. | TuSimple's enhanced night vision camera system | 
| 4.2.7. | World's first fully autonomous semi-truck operating on public roads without human intervention | 
| 4.2.8. | TuSimple's Business Model | 
| 4.2.9. | Embark - Overview | 
| 4.2.10. | Embark - Sensors | 
| 4.2.11. | Embark - Trials And Rollout | 
| 4.2.12. | Einride - Overview | 
| 4.2.13. | Einride: a closer look into the T-pod and E-truck | 
| 4.2.14. | Kodiak Robotics - Overview | 
| 4.2.15. | Kodiak - Sensor Suite | 
| 4.2.16. | Kodiak - Trials And Business Model | 
| 4.2.17. | Plus - Overview | 
| 4.2.18. | Plus - Sensor Suite | 
| 4.2.19. | Plus - Testing, Trials and Deployments | 
| 4.2.20. | Inceptio - Overview | 
| 4.2.21. | Inceptio - Sensor Suite | 
| 4.2.22. | Inceptio - Driverless Test | 
| 4.2.23. | Waymo - Background | 
| 4.2.24. | Waymo - Sensor Suite | 
| 4.2.25. | Waymo - Trials | 
| 4.2.26. | Torc Robotics - Overview | 
| 4.2.27. | Torc Robotics - Sensor Suite | 
| 4.2.28. | Torc Robotics - Testing And Trials | 
| 4.2.29. | Aurora | 
| 4.2.30. | Aurora - Sensor Suite | 
| 4.2.31. | Aurora - Trials, Rollout And Business Model | 
| 4.2.32. | Pony.ai | 
| 4.2.33. | Pony.ai Sensor Suite (Robotaxi version) | 
| 4.2.34. | Tesla | 
| 4.2.35. | Solo AVT | 
| 4.2.36. | DeepWay  - A Baidu Founded Start-up | 
| 4.3. | Player - Established Truck OEMs | 
| 4.3.1. | Volvo Truck - Overview | 
| 4.3.2. | Volvo Truck - Vera And VNL | 
| 4.3.3. | Daimler | 
| 4.3.4. | MAN | 
| 4.3.5. | Scania | 
| 4.3.6. | Hyundai catching up in the autonomous trucking race | 
| 4.4. | Trucking Players That Are No Longer Active | 
| 4.4.1. | Why Starsky Robotics Failed | 
| 4.4.2. | Ike | 
| 4.4.3. | Uber and Otto | 
| 4.5. | Redundancy In Autonomous Trucks | 
| 4.5.1. | Redundancy in Different Systems | 
| 4.5.2. | Redundant Systems | 
| 4.5.3. | Daimler Trucks - Redundancy in Braking Control | 
| 4.5.4. | Daimler Trucks - Steering and Communication | 
| 4.5.5. | Continental - Brakes (not Heavy Duty Specific) | 
| 4.5.6. | Bosch - Brakes and Steering (not Heavy Duty Specific) | 
| 4.5.7. | TuSimple - Functional Safety | 
| 4.5.8. | TuSimple - Hardware Failure Tolerance | 
| 4.5.9. | TuSimple - Software Fault Tolerance | 
| 4.5.10. | TuSimple - Functional Safety Overview | 
| 4.5.11. | Plus.AI - Single Sensor Type Redundancy | 
| 4.5.12. | Kodiak - Localisation Redundancy | 
| 4.5.13. | Aurora | 
| 4.5.14. | Mobileye - A Different Approach To Redundancy | 
| 4.5.15. | Redundancy in Connected Technologies | 
| 4.6. | Truck analysis | 
| 4.6.1. | Technology Maturity Status Definitions | 
| 4.6.2. | Market readiness level of L4 autonomous truck companies | 
| 4.6.3. | Maturity | 
| 4.6.4. | Testing Distances | 
| 4.6.5. | Company Backgrounds | 
| 4.6.6. | Autonomous Trucking Activity | 
| 4.6.7. | Company Locations | 
| 4.6.8. | Business Model Options For Start-ups | 
| 4.6.9. | Business Model Adoption | 
| 4.6.10. | Key Drivers For Autonomous Trucks | 
| 4.6.11. | Key Drivers For Autonomous Trucks | 
| 4.6.12. | Remaining Hurdles For Autonomous Trucks | 
| 4.6.13. | IDTechEx Opinion | 
| 5. | SENSOR SUITES AND COMPUTERS FOR COMMERCIAL AUTONOMOUS VEHICLES | 
| 5.1. | The Sensor Trifactor | 
| 5.2. | Sensors for Roboshuttles | 
| 5.3. | Sensors for autonomous buses | 
| 5.4. | Sensors for autonomous trucks | 
| 5.5. | Comparison to robotaxis | 
| 5.6. | Computation for heavy-duty autonomous vehicles | 
| 5.7. | Main computer supplier - Nvidia | 
| 5.8. | Main computer supplier - Mobileye | 
| 5.9. | Main LiDAR suppliers - Velodyne and Ouster | 
| 5.10. | Sensor suite attributes | 
| 5.11. | Conclusions | 
| 6. | SUMMARY OF AUTONOMOUS ACTIVITY AND PROGRESS ACROSS TRUCKS, BUSES, ROBOSHUTTLES | 
| 6.1. | Number Of Active Companies | 
| 6.2. | Big Map of Activity Across The World | 
| 6.3. | Locations Split By Vehicle Types | 
| 6.4. | Table Of Vehicles And Players | 
| 6.5. | Value Chain Position Of Companies In Commercial Autonomy | 
| 6.6. | Technology Readiness | 
| 6.7. | Ones To Watch - Roboshuttles (1) | 
| 6.8. | Ones To Watch - Roboshuttles (2) | 
| 6.9. | Ones to watch - Autonomous buses (1) | 
| 6.10. | Ones to watch - Autonomous buses (2) | 
| 6.11. | Ones To Watch - Autonomous Trucks | 
| 6.12. | SWOT analysis and comparisons for roboshuttles, autonomous buses and autonomous trucks. | 
| 6.13. | Commercial readiness and opportunity comparison, roboshuttle, autonomous buses, autonomous trucks. | 
| 6.14. | IDTechEx predicted timelines | 
| 6.15. | Conclusions | 
| 7. | ENABLING TECHNOLOGIES: CAMERAS | 
| 7.1. | RGB/Visible light camera SWOT | 
| 7.2. | CMOS image sensors vs CCD cameras | 
| 7.3. | Key Components of CMOS | 
| 7.4. | Front vs backside illumination | 
| 7.5. | Reducing Cross-talk | 
| 7.6. | Global vs Rolling Shutter | 
| 7.7. | TPSCo: leading foundry for global shutter | 
| 7.8. | Sony: CMOS Breakthrough? | 
| 7.9. | Sony: BSI global shutter CMOS with stacked ADC | 
| 7.10. | OmniVision: 2.µm global shutter CMOS for automotive | 
| 7.11. | Hybrid organic-Si global shutter CMOS | 
| 7.12. | Event-based Vision: a New Sensor Type | 
| 7.13. | What is Event-based Sensing? | 
| 7.14. | General event-based sensing: Pros and cons | 
| 7.15. | What is Event-based Vision? (I) | 
| 7.16. | What is Event-based Vision? (II) | 
| 7.17. | What is event-based vision? (III) | 
| 7.18. | What does event-based vision data look like? | 
| 7.19. | Event Based Vision in Autonomy? | 
| 8. | ENABLING TECHNOLOGIES: THERMAL CAMERAS | 
| 8.1. | Segmenting the Electromagnetic Spectrum | 
| 8.2. | Thermal camera SWOT | 
| 8.3. | IR Cameras | 
| 8.4. | The Need for NIR | 
| 8.5. | OmniVision: Making Silicon CMOS Sensitive to NIR | 
| 8.6. | OmniVision: Making Silicon CMOS Sensitive to NIR | 
| 8.7. | Motivation For Short-Wave Infra-Red (SWIR) Imaging | 
| 8.8. | Why SWIR in Autonomous Mobility | 
| 8.9. | Other SWIR Benefits: Better On-Road Hazard Detection | 
| 8.10. | SWIR Sensitivity of Materials | 
| 8.11. | SWIR Imaging: Incumbent and Emerging Technology Options | 
| 8.12. | The Challenge of High Resolution, Low Cost IR Sensors | 
| 8.13. | Silicon Based SWIR Detection - TriEye | 
| 9. | ENABLING TECHNOLOGIES: QUANTUM DOTS AS OPTICAL SENSOR MATERIALS FOR IR, NIR, SWIR | 
| 9.1. | Quantum Dots as Optical Sensor Materials | 
| 9.2. | Quantum Dots: Choice of the Material System | 
| 9.3. | Other Ongoing Challenges | 
| 9.4. | Advantage of Solution Processing | 
| 9.5. | QD-Si CMOS at IR and NIR | 
| 9.6. | Hybrid QD-Si Global Shutter CMOS at IR and NIR | 
| 9.7. | Emberion: QD-Graphene SWIR Sensor | 
| 9.8. | Emberion: QD-Graphene-Si Broadrange SWIR sensor | 
| 9.9. | SWIR Vision Sensors: First QD-Si Cameras and/or an Alternative to InVisage? | 
| 9.10. | QD-ROIC Si-CMOS integration Examples (IMEC) | 
| 9.11. | QD-ROIC Si-CMOS Integration Examples (RTI International) | 
| 9.12. | QD-ROIC Si-CMOS Integration Examples (ICFO) | 
| 9.13. | QD-ROIC Si-CMOS Integration Examples (ICFO) | 
| 10. | ENABLING TECHNOLOGIES: LIDAR | 
| 10.1. | LiDAR classifications | 
| 10.2. | Automotive LiDAR: Operating process | 
| 10.3. | Automotive LiDAR: Requirements | 
| 10.4. | LiDAR system | 
| 10.5. | LiDAR working principle | 
| 10.6. | Laser range finder function for the first production car | 
| 10.7. | Comparison of lidar product parameters | 
| 10.8. | TOF vs. FMCW LiDAR | 
| 10.9. | LiDAR scanning categories | 
| 10.10. | Comparison of Common Beam Steering Options | 
| 10.11. | Overview of beam steering technologies | 
| 10.12. | Summary of lidars with various beam steering technologies | 
| 10.13. | Point cloud | 
| 10.14. | LiDAR signal applications | 
| 10.15. | 3D point cloud modelling | 
| 10.16. | LiDAR challenges | 
| 10.17. | Poor weather performance: challenges & solutions | 
| 10.18. | Autonomous mobility goes beyond cars | 
| 10.19. | Early possible adoption of LiDAR | 
| 10.20. | Velodyne lidar portfolios | 
| 10.21. | Valeo SCALA | 
| 10.22. | Livox: Risley prisms | 
| 10.23. | Automotive lidar players by technology | 
| 11. | ENABLING TECHNOLOGIES: RADAR | 
| 11.1. | Radar SWOT | 
| 11.2. | Radars are common in private vehicles | 
| 11.3. | Radar Has a Key Place in Automotive Sensors | 
| 11.4. | Front Radar Applications | 
| 11.5. | The Role of Side Radars | 
| 11.6. | Radars Limited Resolution | 
| 11.7. | Radar Performance Trends | 
| 11.8. | Radar Trilemma | 
| 11.9. | Radar Anatomy | 
| 11.10. | Primary Radar Components - The Antenna | 
| 11.11. | Primary Radar Components - The RF Transceiver | 
| 11.12. | Primary Radar Components - MCU | 
| 11.13. | Automotive Radars: Frequency Trends | 
| 11.14. | Trends in Transceivers | 
| 11.15. | Two Approaches to Larger Channel Counts | 
| 11.16. | Radar Board Trends | 
| 11.17. | Radar Suppliers: Tier 1s and Start Ups | 
| 11.18. | Leading players - tier 1 suppliers | 
| 11.19. | Transceiver suppliers | 
| 11.20. | Supply chain | 
| 11.21. | Example products from a tier 1 - Continental | 
| 11.22. | Example products from a tier 1 - Bosch | 
| 11.23. | Example of radar start-up - Arbe | 
| 11.24. | Arbe and its Investors | 
| 11.25. | Example of radar start-up - Zadar | 
| 12. | FORECASTS | 
| 12.1. | Notes on the forecasts chapter | 
| 12.2. | Forecasts: Roboshuttles | 
| 12.2.1. | Method | 
| 12.2.2. | Vehicle assumptions | 
| 12.2.3. | Cities Considered | 
| 12.2.4. | Adoption within cities | 
| 12.2.5. | Current and forecasted city roll out 2020-2043 | 
| 12.2.6. | Distribution of roboshuttle cities | 
| 12.2.7. | Roboshuttle fare pricing for different economies | 
| 12.2.8. | Roboshuttle price decline | 
| 12.2.9. | Roboshuttle fleet size and unit sales 2020-2043 | 
| 12.2.10. | Roboshuttle revenues, vehicle sales and passenger fares 2020-2043 | 
| 12.2.11. | Sensors for roboshuttles 2020-2043 | 
| 12.3. | Forecasts: Autonomous Buses | 
| 12.3.1. | Method | 
| 12.3.2. | Minibus utilization, adoption and city roll-out | 
| 12.3.3. | Autonomous bus adoption | 
| 12.3.4. | Autonomous bus unit sales 2023-2043 | 
| 12.3.5. | Vehicle pricing | 
| 12.3.6. | Autonomous bus revenue 2023-2043 | 
| 12.3.7. | Seating capacity in autonomous buses and roboshuttles | 
| 12.3.8. | Roboshuttle and autonomous bus sales revenue 2023-2043 | 
| 12.3.9. | Powertrains of autonomous buses 2023-2043 | 
| 12.3.10. | Sensors for autonomous buses | 
| 12.4. | Forecasts: Autonomous Trucking | 
| 12.4.1. | Method | 
| 12.4.2. | Heavy Duty Trucking Unit Sales 2022-2042 | 
| 12.4.3. | Autonomous truck pricing | 
| 12.4.4. | Heavy Duty Trucking Revenue 2022-2042 | 
| 12.4.5. | Miles and service revenue for autonomous trucks 2023-2043 | 
| 12.4.6. | Autonomous truck powertrains 2023-2043 | 
| 12.4.7. | Sensors for autonomous trucks | 
| 12.5. | Forecast: Unit sales and sales revenues for roboshuttles, autonomous buses and autonomous trucks combined | 
| 12.5.1. | Heavy duty autonomous unit sales: 2023-2043 | 
| 12.5.2. | Heavy-duty autonomous revenue 2023-2043 | 
| 12.5.3. | Sensors for heavy duty autonomous vehicles 2023-2043 |