自动驾驶 - arXivDaily 专题

2504.19580 2025-05-06 cs.RO 88%

ARTEMIS: Autoregressive End-to-End Trajectory Planning with Mixture of Experts for Autonomous Driving

Renju Feng, Ning Xi, Duanfeng Chu, Rukang Wang, Zejian Deng, Anzheng Wang, Liping Lu, Jinxiang Wang, Yanjun Huang

机构 * Intelligent Transportation Systems Research Center, Wuhan University of Technology（武汉理工大学智能交通系统研究中心）； Department of Data and Systems Engineering, The University of Hong Kong（香港大学数据与系统工程系）； School of Computer Science and Artificial Intelligence, Wuhan University of Technology（武汉理工大学计算机科学与人工智能学院）； School of Mechanical Engineering, Southeast University（东南大学机械工程学院）； School of Automotive Studies, Tongji University（同济大学汽车工程学院）

专题命中规划控制：autonomous driving(title,abstract)；trajectory planning(title,abstract)；分类 cs.RO

2504.06584 2025-04-10 cs.RO cs.LG 88%

CAFE-AD: Cross-Scenario Adaptive Feature Enhancement for Trajectory Planning in Autonomous Driving

Junrui Zhang, Chenjie Wang, Jie Peng, Haoyu Li, Jianmin Ji, Yu Zhang, Yanyong Zhang

专题命中规划控制：autonomous driving(title,abstract)；trajectory planning(title,abstract)；分类 cs.RO

Comments ICRA 2025; first two authors contributed equally

2412.09424 2024-12-13 cs.RO 88%

Slope Considered Online Nonlinear Trajectory Planning with Differential Energy Model for Autonomous Driving

Zhaofeng Tian, Lichen Xia, Weisong Shi

专题命中规划控制：autonomous driving(title,abstract)；trajectory planning(title,abstract)；分类 cs.RO

2409.13993 2024-09-24 cs.RO cs.GT 88%

Integrated Decision Making and Trajectory Planning for Autonomous Driving Under Multimodal Uncertainties: A Bayesian Game Approach

Zhenmin Huang, Tong Li, Shaojie Shen, Jun Ma

专题命中规划控制：autonomous driving(title,abstract)；trajectory planning(title,abstract)；分类 cs.RO

2406.11707 2024-06-18 cs.CR cs.CV cs.LG 88%

A First Physical-World Trajectory Prediction Attack via LiDAR-induced Deceptions in Autonomous Driving

Yang Lou, Yi Zhu, Qun Song, Rui Tan, Chunming Qiao, Wei-Bin Lee, Jianping Wang

专题命中规划控制：autonomous driving(title,abstract)；LiDAR(title,abstract)；分类 cs.CV

Comments In Proceedings of the 33rd USENIX Security Symposium 2024

2405.13704 2024-05-24 cs.RO cs.LO 88%

Safe and Personalizable Logical Guidance for Trajectory Planning of Autonomous Driving

Yuejiao Xu, Ruolin Wang, Chengpeng Xu, Jianmin Ji

专题命中规划控制：autonomous driving(title,abstract)；trajectory planning(title,abstract)；分类 cs.RO

Comments Submitted to ITSC 2024

2404.15602 2024-04-25 cs.RO 88%

Decentralized Multi-Agent Trajectory Planning in Dynamic Environments with Spatiotemporal Occupancy Grid Maps

Siyuan Wu, Gang Chen, Moji Shi, Javier Alonso-Mora

专题命中规划控制：occupancy(title,abstract)；trajectory planning(title,abstract)；分类 cs.RO

Comments 6 pages, 6 figures, accepted to the 2024 IEEE International Conference on Robotics and Automation (ICRA2024)

2309.03051 2023-09-07 cs.RO cs.SY eess.SY 88%

Feasibility of Local Trajectory Planning for Level-2+ Semi-autonomous Driving without Absolute Localization

Sheng Zhu, Jiawei Wang, Yu Yang, Bilin Aksun-Guvenc

专题命中规划控制：autonomous driving(title,abstract)；trajectory planning(title,abstract)；分类 cs.RO

Comments 11 pages, 13 figures, github url: https://github.com/codezs09/l2_frenet_planner

2302.14819 2023-03-01 cs.RO 88%

ROG-Map: An Efficient Robocentric Occupancy Grid Map for Large-scene and High-resolution LiDAR-based Motion Planning

Yunfan Ren, Yixi Cai, Fangcheng Zhu, Siqi Liang, Fu Zhang

专题命中规划控制：LiDAR(title,abstract)；occupancy(title,abstract)；分类 cs.RO

2207.00788 2022-07-29 cs.AI 88%

Long-Tail Prediction Uncertainty Aware Trajectory Planning for Self-driving Vehicles

Weitao Zhou, Zhong Cao, Yunkang Xu, Nanshan Deng, Xiaoyu Liu, Kun Jiang, Diange Yang

专题命中规划控制：trajectory planning(title,abstract)；self-driving(title)；autonomous driving(abstract)；分类 cs.AI

2205.11853 2022-05-25 cs.RO 88%

Real-Time Trajectory Planning for Autonomous Driving with Gaussian Process and Incremental Refinement

Cheng Jie, Chen Yingbing, Zhang Qingwen, Gan Lu, Liu Ming

专题命中规划控制：autonomous driving(title,abstract)；trajectory planning(title,abstract)；分类 cs.RO

Comments ICRA2022, longer version, code https://github.com/jchengai/gpir

2406.13396 2024-07-31 eess.SY cs.SY 88%

Safe and Non-Conservative Trajectory Planning for Autonomous Driving Handling Unanticipated Behaviors of Traffic Participants

Tommaso Benciolini, Michael Fink, Nehir Güzelkaya, Dirk Wollherr, Marion Leibold

专题命中规划控制：autonomous driving(title,abstract)；trajectory planning(title,abstract)

2003.08744 2020-10-23 cs.CV cs.AI cs.RO 88%

PLOP: Probabilistic poLynomial Objects trajectory Planning for autonomous driving

Thibault Buhet, Emilie Wirbel, Andrei Bursuc, Xavier Perrotton

专题命中规划控制：autonomous driving(title)；trajectory planning(title)；LiDAR(abstract)；分类 cs.RO、cs.CV、cs.AI

Comments Accepted at CorRL 2020 (matching camera-ready version)

2411.09971 2024-11-18 cs.CV cs.RO 87%

Explanation for Trajectory Planning using Multi-modal Large Language Model for Autonomous Driving

Shota Yamazaki, Chenyu Zhang, Takuya Nanri, Akio Shigekane, Siyuan Wang, Jo Nishiyama, Tao Chu, Kohei Yokosawa

专题命中规划控制：autonomous driving(title,abstract)；trajectory planning(title)；分类 cs.RO、cs.CV

Comments Accepted and presented at ECCV 2024 2nd Workshop on Vision-Centric Autonomous Driving (VCAD) on September 30, 2024. 13 pages, 5 figures

2608.20111 2026-08-21 cs.RO cs.ET 新提交 87%

Planning-Oriented End-to-End Autonomous Driving: Architectures, Evaluation, and Emerging Paradigms

面向规划的端到端自动驾驶：架构、评估与新兴范式

Yanchen Guan, Xingcheng Liu, Bin Rao, Chengyue Wang, Guofa Li, Yunjian Li, Lishengsa Yue, Zhiyong Cui, Chengzhong Xu, Zhenning Li

机构 * University of Macau（澳门大学）； Chongqing University（重庆大学）； The Hong Kong University of Science and Technology（香港科技大学）； Tongji University（同济大学）； Beihang University（北京航空航天大学）

专题命中规划控制：autonomous driving(title,abstract)；BEV(abstract,abstract_cn)；end-to-end driving(abstract)；分类 cs.RO

AI总结本综述梳理了端到端自动驾驶从回归任务向面向规划系统的转变，沿四个维度整合方法，分析基准转变，指出需结合一致评估解读架构进展，并总结了多项开放性挑战。

2105.00398 2021-05-04 cs.RO cs.AI 87%

A LiDAR Assisted Control Module with High Precision in Parking Scenarios for Autonomous Driving Vehicle

Xin Xu, Yu Dong, Fan Zhu

专题命中规划控制：autonomous driving(title,abstract)；LiDAR(title)；分类 cs.RO、cs.AI

2510.00060 2026-03-02 cs.CV cs.AI cs.RO 87%

Less is More: Lean yet Powerful Vision-Language Model for Autonomous Driving

少即是多：一种高效而强大的视觉-语言模型用于自动驾驶

Sheng Yang, Tong Zhan, Guancheng Chen, Yanfeng Lu, Jian Wang

机构 * School of Data Science, Fudan University Shanghai, China（复旦大学数据科学学院）； Institute of Automation, Chinese Academy of Sciences Beijing, China（中国科学院自动化研究所）

专题命中规划控制：autonomous driving(title,abstract)；self-driving(abstract)；trajectory planning(abstract)；分类 cs.RO、cs.CV、cs.AI

AI总结本研究提出Max-V1模型，通过端到端视觉-语言方法实现高效自动驾驶，取得nuScenes数据集上的显著性能提升。

2511.22181 2025-12-01 cs.CV cs.AI cs.RO 87%

MTR-VP: Towards End-to-End Trajectory Planning through Context-Driven Image Encoding and Multiple Trajectory Prediction

MTR-VP: 通过基于上下文的图像编码和多轨迹预测实现端到端轨迹规划

Maitrayee Keskar, Mohan Trivedi, Ross Greer

机构 * Machine Intelligence, Interaction, and Imagination (Mi 3 ) Laboratory（机器智能、交互与想象实验室）； University of California, Merced（加州大学默塞德分校）； Laboratory for Intelligent & Safe Automobiles (LISA)（智能与安全汽车实验室）； University of California, San Diego（加州大学圣地亚哥分校）

专题命中规划控制：trajectory planning(title,abstract)；autonomous driving(abstract)；end-to-end driving(abstract)；分类 cs.RO、cs.CV、cs.AI

AI总结 MTR-VP通过基于上下文的图像编码和多轨迹预测实现端到端轨迹规划，利用交叉注意力提升规划性能。

Comments 8 pages, 3 figures, 4 tables

2308.01006 2023-08-15 cs.CV cs.AI cs.RO 87%

FusionAD: Multi-modality Fusion for Prediction and Planning Tasks of Autonomous Driving

Tengju Ye, Wei Jing, Chunyong Hu, Shikun Huang, Lingping Gao, Fangzhen Li, Jingke Wang, Ke Guo, Wencong Xiao, Weibo Mao, Hang Zheng, Kun Li, Junbo Chen, Kaicheng Yu

专题命中规划控制：autonomous driving(title,abstract)；LiDAR(abstract)；occupancy(abstract)；分类 cs.RO、cs.CV、cs.AI

2011.08436 2021-03-30 cs.CV cs.AI cs.RO 87%

Shared Cross-Modal Trajectory Prediction for Autonomous Driving

Chiho Choi, Joon Hee Choi, Jiachen Li, Srikanth Malla

专题命中规划控制：autonomous driving(title,abstract)；self-driving(abstract)；LiDAR(abstract)；分类 cs.RO、cs.CV、cs.AI

Comments CVPR 2021 [Oral]

2512.22939 2026-03-02 cs.CV 86%

ColaVLA: Leveraging Cognitive Latent Reasoning for Hierarchical Parallel Trajectory Planning in Autonomous Driving

ColaVLA: 借助认知潜在推理实现自动驾驶中的分层并行轨迹规划

Qihang Peng, Xuesong Chen, Chenye Yang, Shaoshuai Shi, Hongsheng Li

机构 * Tsinghua University（清华大学）； CUHK MMLab（香港中文大学MMLab）； Voyager Research, Didi Chuxing（Voyager Research，滴滴出行）

专题命中规划控制：autonomous driving(title,abstract)；trajectory planning(title)；分类 cs.CV

AI总结 ColaVLA通过统一视觉-语言-动作框架，解决自动驾驶中轨迹规划的效率与准确性问题，实现高效、安全的多尺度轨迹生成。

Comments CVPR2026(Main Conference). Project page: https://pqh22.github.io/projects/ColaVLA/index.html

2511.17150 2025-11-24 cs.CV 86%

DiffRefiner: Coarse to Fine Trajectory Planning via Diffusion Refinement with Semantic Interaction for End to End Autonomous Driving

DiffRefiner: 通过扩散细化与语义交互实现从粗到细的轨迹规划用于端到端自动驾驶

Liuhan Yin, Runkun Ju, Guodong Guo, Erkang Cheng

机构 * Nullmax

专题命中规划控制：autonomous driving(title,abstract)；trajectory planning(title)；分类 cs.CV

AI总结 DiffRefiner通过两阶段框架结合扩散细化与语义交互，实现更精确的端到端自动驾驶轨迹规划，取得新纪录。

Comments Accepted to AAAI 2026

2509.09206 2025-09-18 cs.RO cs.SY eess.SY 86%

Occupancy-aware Trajectory Planning for Autonomous Valet Parking in Uncertain Dynamic Environments

Farhad Nawaz, Faizan M. Tariq, Sangjae Bae, David Isele, Avinash Singh, Nadia Figueroa, Nikolai Matni, Jovin D'sa

机构 * Honda Research Institute (HRI)（本田研究院）； University of Pennsylvania（宾夕法尼亚大学）

专题命中规划控制：occupancy(title,abstract)；trajectory planning(title)；分类 cs.RO

2104.08634 2024-06-28 cs.RO cs.SY eess.SY 86%

AeroTraj: Trajectory Planning for Fast, and Accurate 3D Reconstruction Using a Drone-based LiDAR

Fawad Ahmad, Christina Shin, Rajrup Ghosh, John D'Ambrosio, Eugene Chai, Karthik Sundaresan, Ramesh Govindan

专题命中规划控制：LiDAR(title,abstract)；trajectory planning(title)；分类 cs.RO

2406.08855 2024-06-14 cs.RO 86%

Trajectory Planning for Autonomous Driving in Unstructured Scenarios Based on Graph Neural Network and Numerical Optimization

Sumin Zhang, Kuo Li, Rui He, Zhiwei Meng, Yupeng Chang, Xiaosong Jin, Ri Bai

专题命中规划控制：trajectory planning(title,abstract)；autonomous driving(title)；分类 cs.RO

2310.02625 2023-10-05 cs.RO 86%

Adaptive Spatio-Temporal Voxels Based Trajectory Planning for Autonomous Driving in Highway Traffic Flow

Zhiqiang Jian, Songyi Zhang, Lingfeng Sun, Wei Zhan, Masayoshi Tomizuka, Nanning Zheng

专题命中规划控制：trajectory planning(title,abstract)；autonomous driving(title)；分类 cs.RO

Comments 8 pages, 5 figures

Journal ref IEEE ITSC 2023

2306.15968 2023-06-29 cs.RO cs.LG 86%

Action and Trajectory Planning for Urban Autonomous Driving with Hierarchical Reinforcement Learning

Xinyang Lu, Flint Xiaofeng Fan, Tianying Wang

专题命中规划控制：autonomous driving(title)；trajectory planning(title)；LiDAR(abstract)；分类 cs.RO

Comments ICML Workshop on New Frontiers in Learning, Control, and Dynamical Systems

2209.09320 2022-09-21 cs.RO cs.SY eess.SY 86%

Real-Time Unified Trajectory Planning and Optimal Control for Urban Autonomous Driving Under Static and Dynamic Obstacle Constraints

Rowan Dempster, Mohammad Al-Sharman, Derek Rayside, William Melek

专题命中规划控制：trajectory planning(title,abstract)；autonomous driving(title)；分类 cs.RO

1910.04586 2019-10-11 cs.RO cs.LG 86%

Jointly Learnable Behavior and Trajectory Planning for Self-Driving Vehicles

Abbas Sadat, Mengye Ren, Andrei Pokrovsky, Yen-Chen Lin, Ersin Yumer, Raquel Urtasun

专题命中规划控制：self-driving(title,abstract)；trajectory planning(title)；分类 cs.RO

Comments IROS 2019

1904.02606 2019-04-05 cs.RO 86%

Hierarchical Trajectory Planning for Autonomous Driving in Low-speed Driving Scenarios Based on RRT and Optimization

Yuying Chen, Haoyang Ye, Ming Liu

专题命中规划控制：trajectory planning(title,abstract)；autonomous driving(title)；分类 cs.RO

Comments 8 pages, 12 figures

1. 规划控制 4265 篇

ARTEMIS: Autoregressive End-to-End Trajectory Planning with Mixture of Experts for Autonomous Driving

CAFE-AD: Cross-Scenario Adaptive Feature Enhancement for Trajectory Planning in Autonomous Driving

Slope Considered Online Nonlinear Trajectory Planning with Differential Energy Model for Autonomous Driving

Integrated Decision Making and Trajectory Planning for Autonomous Driving Under Multimodal Uncertainties: A Bayesian Game Approach

A First Physical-World Trajectory Prediction Attack via LiDAR-induced Deceptions in Autonomous Driving

Safe and Personalizable Logical Guidance for Trajectory Planning of Autonomous Driving

Decentralized Multi-Agent Trajectory Planning in Dynamic Environments with Spatiotemporal Occupancy Grid Maps

Feasibility of Local Trajectory Planning for Level-2+ Semi-autonomous Driving without Absolute Localization

ROG-Map: An Efficient Robocentric Occupancy Grid Map for Large-scene and High-resolution LiDAR-based Motion Planning

Long-Tail Prediction Uncertainty Aware Trajectory Planning for Self-driving Vehicles

Real-Time Trajectory Planning for Autonomous Driving with Gaussian Process and Incremental Refinement

Safe and Non-Conservative Trajectory Planning for Autonomous Driving Handling Unanticipated Behaviors of Traffic Participants

PLOP: Probabilistic poLynomial Objects trajectory Planning for autonomous driving

Explanation for Trajectory Planning using Multi-modal Large Language Model for Autonomous Driving

Planning-Oriented End-to-End Autonomous Driving: Architectures, Evaluation, and Emerging Paradigms

A LiDAR Assisted Control Module with High Precision in Parking Scenarios for Autonomous Driving Vehicle

Less is More: Lean yet Powerful Vision-Language Model for Autonomous Driving

MTR-VP: Towards End-to-End Trajectory Planning through Context-Driven Image Encoding and Multiple Trajectory Prediction

FusionAD: Multi-modality Fusion for Prediction and Planning Tasks of Autonomous Driving

Shared Cross-Modal Trajectory Prediction for Autonomous Driving

ColaVLA: Leveraging Cognitive Latent Reasoning for Hierarchical Parallel Trajectory Planning in Autonomous Driving

DiffRefiner: Coarse to Fine Trajectory Planning via Diffusion Refinement with Semantic Interaction for End to End Autonomous Driving

Occupancy-aware Trajectory Planning for Autonomous Valet Parking in Uncertain Dynamic Environments

AeroTraj: Trajectory Planning for Fast, and Accurate 3D Reconstruction Using a Drone-based LiDAR

Trajectory Planning for Autonomous Driving in Unstructured Scenarios Based on Graph Neural Network and Numerical Optimization

Adaptive Spatio-Temporal Voxels Based Trajectory Planning for Autonomous Driving in Highway Traffic Flow

Action and Trajectory Planning for Urban Autonomous Driving with Hierarchical Reinforcement Learning

Real-Time Unified Trajectory Planning and Optimal Control for Urban Autonomous Driving Under Static and Dynamic Obstacle Constraints

Jointly Learnable Behavior and Trajectory Planning for Self-Driving Vehicles

Hierarchical Trajectory Planning for Autonomous Driving in Low-speed Driving Scenarios Based on RRT and Optimization