If you are looking for a paper specifically authored by Google researchers, I recommend:
: Building and terrain generation can look "bumpy" or amateurish in some areas. 3d driving simulator on google
: You can enter any location—from your home street to famous landmarks like Manhattan—and start driving immediately. If you are looking for a paper specifically
CARLA: An Open Urban Driving Simulator Authors: Alexey Dosovitskiy, German Ros, Felipe Codevilla, Antonio Lopez, Vladlen Koltun (and others from Intel Labs, Toyota Research Institute, etc.) Published in: Conference on Robot Learning (CoRL), 2017 However, serious gamers looking for realistic physics or
This tool is perfect for and casual explorers who want a more interactive way to view the world than standard Street View. However, serious gamers looking for realistic physics or competitive racing should stick to titles like Assetto Corsa or iRacing.
You can access the 3D Driving Simulator on Google Maps through a web browser.