相关论文: PIE: Perception and Interaction Enhanced End-to-En…

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…

Motion planning is a challenging task to generate safe and feasible trajectories in highly dynamic and complex environments, forming a core capability for autonomous vehicles. In this paper, we propose DRAMA, the first Mamba-based…

Motion prediction is highly relevant to the perception of dynamic objects and static map elements in the scenarios of autonomous driving. In this work, we propose PIP, the first end-to-end Transformer-based framework which jointly and…

Current end-to-end autonomous driving methods typically learn only from expert planning data collected from a single ego vehicle, severely limiting the diversity of learnable driving policies and scenarios. However, a critical yet…

With the recent advancement of deep learning technology, data-driven approaches for autonomous car prediction and planning have achieved extraordinary performance. Nevertheless, most of these approaches follow a non-interactive prediction…

Autonomous driving holds transformative potential but remains fundamentally constrained by the limited perception and isolated decision-making with standalone intelligence. While recent multi-agent approaches introduce cooperation, they…

Navigating dense and dynamic environments poses a significant challenge for autonomous driving systems, owing to the intricate nature of multimodal interaction, wherein the actions of various traffic participants and the autonomous vehicle…

Recently, deep-learning based approaches have achieved impressive performance for autonomous driving. However, end-to-end vision-based methods typically have limited interpretability, making the behaviors of the deep networks difficult to…

This paper proposes an interaction and safety-aware motion-planning method for an autonomous vehicle in uncertain multi-vehicle traffic environments. The method integrates the ability of the interaction-aware interacting multiple model…

Modular design of planning-oriented autonomous driving has markedly advanced end-to-end systems. However, existing architectures remain constrained by an over-reliance on ego status, hindering generalization and robust scene understanding.…

The well-established modular autonomous driving system is decoupled into different standalone tasks, e.g. perception, prediction and planning, suffering from information loss and error accumulation across modules. In contrast, end-to-end…

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…

Automated driving has the potential to revolutionize personal, public, and freight mobility. Beside accurately perceiving the environment, automated vehicles must plan a safe, comfortable, and efficient motion trajectory. To promote safety…

We introduce EMMA, an End-to-end Multimodal Model for Autonomous driving. Built upon a multi-modal large language model foundation like Gemini, EMMA directly maps raw camera sensor data into various driving-specific outputs, including…

Motion forecasting is a crucial component of autonomous driving systems, enabling the generation of accurate and smooth future trajectories to ensure safe navigation to the destination. In previous methods, potential future trajectories are…

Motion planning for autonomous vehicles (AVs) in dense traffic is challenging, often leading to overly conservative behavior and unmet planning objectives. This challenge stems from the AVs' limited ability to anticipate and respond to the…

In highly interactive driving scenarios, the actions of one agent greatly influences those of its neighbors. Planning safe motions for autonomous vehicles in such interactive environments, therefore, requires reasoning about the impact of…

End-to-end (E2E) autonomous driving systems offer a promising alternative to traditional modular pipelines by reducing information loss and error accumulation, with significant potential to enhance both mobility and safety. However, most…

Multi-modal collaborative perception calls for great attention to enhancing the safety of autonomous driving. However, current multi-modal approaches remain a ``local fusion to communication'' sequence, which fuses multi-modal data locally…

Safely interacting with other traffic participants is one of the core requirements for autonomous driving, especially in intersections and occlusions. Most existing approaches are designed for particular scenarios and require significant…