相关论文: DualAD: Dual-Layer Planning for Reasoning in Auton…

End-to-end autonomous driving has emerged as a promising approach to unify perception, prediction, and planning within a single framework, reducing information loss and improving adaptability. However, existing methods often rely on fixed…

A principal barrier to large-scale deployment of urban autonomous driving systems lies in the prevalence of complex scenarios and edge cases. Existing systems fail to effectively interpret semantic information within traffic contexts and…

Autonomous driving has advanced significantly due to sensors, machine learning, and artificial intelligence improvements. However, prevailing methods struggle with intricate scenarios and causal relationships, hindering adaptability and…

While autonomous driving technology has made remarkable strides, data-driven approaches still struggle with complex scenarios due to their limited reasoning capabilities. Meanwhile, knowledge-driven autonomous driving systems have evolved…

How to construct an interpretable autonomous driving decision-making system has become a focal point in academic research. In this study, we propose a novel approach that leverages large language models (LLMs) to generate executable,…

In this paper, we explore the potential of using a large language model (LLM) to understand the driving environment in a human-like manner and analyze its ability to reason, interpret, and memorize when facing complex scenarios. We argue…

Modern autonomous driving system is characterized as modular tasks in sequential order, i.e., perception, prediction, and planning. In order to perform a wide diversity of tasks and achieve advanced-level intelligence, contemporary…

Ensuring safe, comfortable, and efficient navigation is a critical goal for autonomous driving systems. While end-to-end models trained on large-scale datasets excel in common driving scenarios, they often struggle with rare, long-tail…

Motion planning in complex scenarios is a core challenge in autonomous driving. Conventional methods apply predefined rules or learn from driving data to generate trajectories, while recent approaches leverage large language models (LLMs)…

Existing learning-based autonomous driving (AD) systems face challenges in comprehending high-level information, generalizing to rare events, and providing interpretability. To address these problems, this work employs Large Language Models…

Autonomous driving (AD) systems struggle in long-tail scenarios due to limited world knowledge and weak visual dynamic modeling. Existing vision-language-action (VLA)-based methods cannot leverage unlabeled videos for visual causal…

Due to the powerful vision-language reasoning and generalization abilities, multimodal large language models (MLLMs) have garnered significant attention in the field of end-to-end (E2E) autonomous driving. However, their application to…

State-of-the-art approaches for autonomous driving integrate multiple sub-tasks of the overall driving task into a single pipeline that can be trained in an end-to-end fashion by passing latent representations between the different modules.…

Ensuring safe, comfortable, and efficient planning is crucial for autonomous driving systems. While end-to-end models trained on large datasets perform well in standard driving scenarios, they struggle with complex low-frequency events.…

Autonomous Driving (AD) encounters significant safety hurdles in long-tail unforeseen driving scenarios, largely stemming from the non-interpretability and poor generalization of the deep neural networks within the AD system, particularly…

Given the current point-to-point navigation capabilities of autonomous vehicles, researchers are looking into complex service requests that require the vehicles to visit multiple points of interest. In this paper, we develop a layered…

Language-guided autonomous driving requires bridging a large abstraction gap between high-level natural-language instructions and low-level vehicle control. End-to-end approaches that use a single multimodal large language model (MLLM) to…

The development of high-level autonomous driving (AD) is shifting from perception-centric limitations to a more fundamental bottleneck, namely, a deficit in robust and generalizable reasoning. Although current AD systems manage structured…

Autonomous vehicles require highly sophisticated decision-making to determine their motion. This paper describes how such functionality can be achieved with a practical rule engine learned from expert driving decisions. We propose an…

Autonomous driving technology, a catalyst for revolutionizing transportation and urban mobility, has the tend to transition from rule-based systems to data-driven strategies. Traditional module-based systems are constrained by cumulative…