利用导航路径生成目标点以增强端到端自动驾驶规划
Utilizing Navigation Paths to Generate Target Points for Enhanced End-to-End Autonomous Driving Planning
AI总结：
针对现有端到端自动驾驶框架忽略行驶意图学习的问题，本文提出NTT方法，基于导航路径生成目标点再生成规划轨迹，在nuScenes数据集上取得优异规划性能。
摘要：
近年来，端到端自动驾驶框架已被证明不仅能提升感知性能，还能改善规划能力。然而，以往大多数端到端自动驾驶框架主要聚焦于增强环境感知，却忽略了对自动驾驶车辆行驶意图的学习——行驶意图指车辆的预期行驶方向。在规划任务中，自动驾驶车辆的方向是清晰且明确的，但这一关键维度却常被忽视。本文提出NTT（Navigation to Target for Trajectory planning，面向轨迹规划的导航到目标点方法），这是一种端到端自动驾驶框架内的方法。NTT通过两个步骤生成规划轨迹：首先，它基于导航路径生成自动驾驶车辆的未来目标点；随后，基于该目标点生成完整的规划轨迹。一方面，从导航路径生成自动驾驶车辆的目标点，能让车辆学习到清晰的行驶意图；另一方面，基于目标点生成轨迹，可得到能够适应复杂环境变化的灵活规划轨迹，从而提升规划过程的安全性。我们的方法在广泛使用的nuScenes数据集上取得了优异的规划性能，其有效性也通过消融实验得到了验证。
英文摘要：
In recent years, end-to-end autonomous driving frameworks have been shown to not only enhance perception performance but also improve planning capabilities. However, most previous end-to-end autonomous driving frameworks have focused primarily on enhancing environmental perception while neglecting the learning of autonomous vehicle driving intent, which refers to the vehicle's intended direction of travel. In planning, the autonomous vehicle's direction is clear and well-defined, yet this crucial aspect has often been overlooked. This paper introduces NTT (Navigation to Target for Trajectory planning), a method within an end-to-end framework for autonomous driving. NTT generates the planned trajectory in two steps. First, it generates the future target point for the autonomous vehicle on the basis of the navigation path. Then, it produces the complete planned trajectory on the basis of this target point. On the one hand, generating the target point for the autonomous vehicle from the navigation path enables the vehicle to learn a clear driving intent. On the other hand, generating the trajectory on the basis of the target point allows for a flexible planned trajectory that can adapt to complex environmental changes, thereby enhancing the safety of the planning process. Our method achieved excellent planning performance on the widely used nuScenes dataset and its effectiveness was validated through ablation experiments.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
