相关论文: Cognitive-Hierarchy Guided End-to-End Planning for…

In recent years, vision-based end-to-end autonomous driving has emerged as a new paradigm. However, popular end-to-end approaches typically rely on visual feature extraction networks trained under label supervision. This limited supervision…

End-to-end autonomous driving has achieved remarkable advancements in recent years. Existing methods primarily follow a perception-planning paradigm, where perception and planning are executed sequentially within a fully differentiable…

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…

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…

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…

Recent studies have explored leveraging the world knowledge and cognitive capabilities of Vision-Language Models (VLMs) to address the long-tail problem in end-to-end autonomous driving. However, existing methods typically formulate…

Directly producing planning results from raw sensors has been a long-desired solution for autonomous driving and has attracted increasing attention recently. Most existing end-to-end autonomous driving methods factorize this problem into…

End-to-end autonomous driving aims to produce planning trajectories from raw sensors directly. Currently, most approaches integrate perception, prediction, and planning modules into a fully differentiable network, promising great…

In the realm of autonomous driving, conventional approaches for vehicle perception and decision-making primarily rely on sensor input and rule-based algorithms. However, these methodologies often suffer from lack of interpretability and…

We propose UAD, a method for vision-based end-to-end autonomous driving (E2EAD), achieving the best open-loop evaluation performance in nuScenes, meanwhile showing robust closed-loop driving quality in CARLA. Our motivation stems from the…

End-to-end autonomous driving, which bypasses traditional modular pipelines by directly predicting future trajectories from sensor inputs, has recently achieved substantial progress. However, existing methods often overlook the causal…

We present a new interaction mechanism of prediction and planning for end-to-end autonomous driving, called PPAD (Iterative Interaction of Prediction and Planning Autonomous Driving), which considers the timestep-wise interaction to better…

Current autonomous driving systems are composed of a perception system and a decision system. Both of them are divided into multiple subsystems built up with lots of human heuristics. An end-to-end approach might clean up the system 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…

Although end-to-end autonomous driving (E2E-AD) technologies have made significant progress in recent years, there remains an unsatisfactory performance on closed-loop evaluation. The potential of leveraging planning in query design and…

Perception-driven approach and end-to-end system are two major vision-based frameworks for self-driving cars. However, it is difficult to introduce attention and historical information of autonomous driving process, which are the essential…

End-to-end autonomous driving unifies tasks in a differentiable framework, enabling planning-oriented optimization and attracting growing attention. Current methods aggregate historical information either through dense historical…

We present a novel autonomous driving framework, DualAD, designed to imitate human reasoning during driving. DualAD comprises two layers: a rule-based motion planner at the bottom layer that handles routine driving tasks requiring minimal…

End-to-end autonomous driving frameworks enable seamless integration of perception and planning but often rely on one-shot trajectory prediction, which may lead to unstable control and vulnerability to occlusions in single-frame perception.…

As autonomous driving technology progresses, the need for precise trajectory prediction models becomes paramount. This paper introduces an innovative model that infuses cognitive insights into trajectory prediction, focusing on perceived…