TiEV is an autonomous driving platform implemented by the Tongji University of China. The vehicle is drive-by-wire and is fully powered by electricity. We devised the software system of TiEV from scratch, which is capable of driving the vehicle autonomously on urban paths as well as on fast express roads. We describe our whole system, especially novel modules of probabilistic perception fusion, large-scale mapping and updating, the 1^st and the 2^nd planning and the overall safety concern. TiEV finished the 2016, and the 2017 Intelligent Vehicle Future Challenge of China held at Changshu. We show our experiences in the development of autonomous vehicles and discuss the future trends.