自动驾驶

SGDrive: Scene-to-Goal Hierarchical World Cognition for Autonomous Driving

SGDrive: 场景到目标层次化世界认知用于自动驾驶

Jingyu Li, Junjie Wu, Dongnan Hu, Xiangkai Huang, Bin Sun, Zhihui Hao, Xianpeng Lang, Xiatian Zhu, Li Zhang

机构 * Fudan University（复旦大学） ； Shanghai Innovation Institute（上海创新研究院） ； Li Auto Inc.（利汽车公司） ； Tongji University（同济大学） ； University of Surrey（Surrey大学） 纠错

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

AI总结 SGDrive通过构建驾驶特定的知识层次结构，改进了视觉语言模型在自动驾驶中的轨迹规划能力，实现了在导航模拟基准上的最佳性能。

Towards Safe Autonomous Driving: A Real-Time Motion Planning Algorithm on Embedded Hardware

迈向安全的自动驾驶：在嵌入式硬件上的实时运动规划算法

Korbinian Moller, Glenn Johannes Tungka, Lucas Jürgens, Johannes Betz

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

AI总结 本文提出一种在嵌入式硬件上实时运行的轻量级轨迹规划算法，用于提升自动驾驶系统在故障情况下的安全性和可靠性。

Comments 7 pages, submitted to the IEEE Intelligent Vehicles Symposium (IV 2026), Detroit, MI, United States

DriveMLM: Aligning Multi-Modal Large Language Models with Behavioral Planning States for Autonomous Driving

DriveMLM: 通过行为规划状态对齐多模态大语言模型以实现自动驾驶

Erfei Cui, Wenhai Wang, Zhiqi Li, Jiangwei Xie, Haoming Zou, Hanming Deng, Gen Luo, Lewei Lu, Xizhou Zhu, Jifeng Dai

机构 * Department of Electronic Engineering, Tsinghua University（清华大学电子工程系） ； Beijing National Research Center for Information Science and Technology（北京信息科学与技术国家研究中心） 纠错

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

AI总结 DriveMLM通过多模态大语言模型对齐行为规划状态，提升自动驾驶系统的决策能力与闭环性能。

Comments Accepted to Visual Intelligence

Journal ref Visual Intelligence, Volume 3, article number 22, (2025)

DrivePI: Spatial-aware 4D MLLM for Unified Autonomous Driving Understanding, Perception, Prediction and Planning

DrivePI: 基于空间感知的4D MLLM用于统一自动驾驶理解、感知、预测与规划

Zhe Liu, Runhui Huang, Rui Yang, Siming Yan, Zining Wang, Lu Hou, Di Lin, Xiang Bai, Hengshuang Zhao

机构 * The University of Hong Kong（香港大学） ； Yinwang Intelligent Technology Co. Ltd.（英维智能科技有限公司） ； Tianjin University（天津大学） ； Huazhong University of Science and Technology（华中科技大学） 纠错

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

AI总结 DrivePI是一种基于空间感知的4D MLLM，用于统一自动驾驶的理解、感知、预测和规划，通过端到端优化实现多任务并行，提升性能并减少碰撞率。

Behavior-Aware Online Prediction of Obstacle Occupancy using Zonotopes

Alvaro Carrizosa-Rendon, Jian Zhou, Erik Frisk, Vicenc Puig, Fatiha Nejjari

机构 * Institut de Robòtica i Informàtica Industrial CSIC-UPC（机器人与信息技术研究所（CSIC-UPC）） ； Research Center for Supervision, Safety and Automatic Control (CS2AC)（监督、安全与自动控制研究中心） ； Universitat Politècnica de Catalunya (UPC)（巴塞罗那技术大学） ； AVATR Co., Ltd.（AVATR公司） ； Department of Electrical, Engineering Linköping University（链接öping大学电气工程系） 纠错

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

Comments 64th IEEE Conference on Decision and Control

CoVLA: Comprehensive Vision-Language-Action Dataset for Autonomous Driving

Hidehisa Arai, Keita Miwa, Kento Sasaki, Yu Yamaguchi, Kohei Watanabe, Shunsuke Aoki, Issei Yamamoto

机构 * Turing Inc.（图灵公司） 纠错

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

Comments WACV 2025, Project Page: https://turingmotors.github.io/covla-ad/

Precise and Efficient Collision Prediction under Uncertainty in Autonomous Driving

Marc Kaufeld, Johannes Betz

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

Comments 8 pages, submitted to the IEEE ICRA 2026, Vienna, Austria

PIE: Perception and Interaction Enhanced End-to-End Motion Planning for Autonomous Driving

Chengran Yuan, Zijian Lu, Zhanqi Zhang, Yimin Zhao, Zefan Huang, Shuo Sun, Jiawei Sun, Jiahui Li, Christina Dao Wen Lee, Dongen Li, Marcelo H. Ang

机构 * Department of Mechanical Engineering, National University of Singapore（机械工程系，国立新加坡大学） ； Department of Civil and Environmental Engineering, National University of Singapore（土木与环境工程系，国立新加坡大学） 纠错

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

Trajectory Planning for Automated Driving using Target Funnels

Benjamin Bogenberger, Johannes Bürger, Vladislav Nenchev

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

Comments accepted to European Control Conference 2025 (ECC25)

UrgenGo: Urgency-Aware Transparent GPU Kernel Launching for Autonomous Driving

Hanqi Zhu, Wuyang Zhang, Xinran Zhang, Ziyang Tao, Xinrui Lin, Yu Zhang, Jianmin Ji, Yanyong Zhang

机构 * University of Science and Technology of China（中国科学技术大学） ； Institute of Artificial Intelligence, Hefei Comprehensive National Science Center（合肥综合性国家科学中心人工智能研究院） 纠错

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

Mean Field Game-Based Interactive Trajectory Planning Using Physics-Inspired Unified Potential Fields

Zhen Tian, Fujiang Yuan, Chunhong Yuan, Yanhong Peng

机构 * School of Computing Science, University of Glasgow（格拉斯哥大学计算机科学学院） ； College of Mechanical Engineering, Chongqing University of Technology（重庆理工大学机械工程学院） ； Laboratory of Intelligent Home Appliances, College of Science and Technology, Ningbo University（宁波大学智能家电实验室） 纠错

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

A Rapid Iterative Trajectory Planning Method for Automated Parking through Differential Flatness

Zhouheng Li, Lei Xie, Cheng Hu, Hongye Su

机构 * State Key Laboratory of Industrial Control Technology（工业控制技术国家重点实验室） ； Ningbo Innovation Center（宁波创新中心） 纠错

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

Comments Published in the journal Robotics and Autonomous Systems

Journal ref Robotics and Autonomous Systems, Volume 182, December 2024, 104816

GFM-Planner: Perception-Aware Trajectory Planning with Geometric Feature Metric

Yue Lin, Xiaoxuan Zhang, Yang Liu, Dong Wang, Huchuan Lu

机构 * Dalian University of Technology（大连理工大学） 纠错

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

Comments Accepted by IROS 2025

Fully Unified Motion Planning for End-to-End Autonomous Driving

Lin Liu, Caiyan Jia, Ziying Song, Hongyu Pan, Bencheng Liao, Wenchao Sun, Yongchang Zhang, Lei Yang, Yandan Luo

机构 * Beijing Key Laboratory of Traffic Data Mining and Embodied Intelligence（北京交通数据挖掘与具身智能重点实验室） ； Beijing Jiaotong University（北京交通大学） ； Horizon Robotics ； School of Mechanical and Aerospace Engineering（机械与航空航天工程学院） ； Nanyang Technological University（南洋理工大学） ； School of Information Technology and Electrical Engineering（信息技术与电气工程学院） ； The University of Queensland（昆士兰大学） 纠错

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

Predictive Risk Analysis and Safe Trajectory Planning for Intelligent and Connected Vehicles

Zeyu Han, Mengchi Cai, Chaoyi Chen, Qingwen Meng, Guangwei Wang, Ying Liu, Qing Xu, Jianqiang Wang, Keqiang Li

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

COME: Adding Scene-Centric Forecasting Control to Occupancy World Model

Yining Shi, Kun Jiang, Qiang Meng, Ke Wang, Jiabao Wang, Wenchao Sun, Tuopu Wen, Mengmeng Yang, Diange Yang

机构 * School of Vehicle and Mobility, Tsinghua University（清华大学车辆与移动系统学院） ； State Key Laboratory of Intelligent Green Vehicle and Mobility（智能绿色车辆与移动系统国家重点实验室） ； Kargobot Inc（Kargobot公司） ； Nankai University（南开大学） 纠错

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

Optimal Trajectory Planning with Collision Avoidance for Autonomous Vehicle Maneuvering

Jason Zalev

机构 * Magna International Inc.（Magna国际公司） 纠错

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

Comments SIAM Conference on Control and Its Applications, July 28-30th, 2025, Montreal, Canada

Drive in Corridors: Enhancing the Safety of End-to-end Autonomous Driving via Corridor Learning and Planning

Zhiwei Zhang, Ruichen Yang, Ke Wu, Zijun Xu, Jingchu Liu, Lisen Mu, Zhongxue Gan, Wenchao Ding

机构 * College of Intelligent Robotics and Advanced Manufacturing, Fudan University（智能机器人与先进制造学院，复旦大学） ； Horizon Robotics 纠错

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

Comments 8 pages, 4 figures, accepted by RA-L

Frenet Corridor Planner: An Optimal Local Path Planning Framework for Autonomous Driving

Faizan M. Tariq, Zheng-Hang Yeh, Avinash Singh, David Isele, Sangjae Bae

机构 * Honda Research Institute, USA（本田研究院） 纠错

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

Comments 8 pages, 10 figures - Presented at 2025 IEEE 36th Intelligent Vehicles Symposium (IV)

Self-Supervised Traversability Learning with Online Prototype Adaptation for Off-Road Autonomous Driving

Yafeng Bu, Zhenping Sun, Xiaohui Li, Jun Zeng, Xin Zhang, Hui Shen

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

CASPFormer: Trajectory Prediction from BEV Images with Deformable Attention

Harsh Yadav, Maximilian Schaefer, Kun Zhao, Tobias Meisen

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

Comments Under Review at ICPR 2024, Kolkata

Journal ref ICPR 2024, Proceedings, Part XVII Pages 420 - 434

CoGen: 3D Consistent Video Generation via Adaptive Conditioning for Autonomous Driving

Yishen Ji, Ziyue Zhu, Zhenxin Zhu, Kaixin Xiong, Ming Lu, Zhiqi Li, Lijun Zhou, Haiyang Sun, Bing Wang, Tong Lu

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

Simulation-based Analysis Of Highway Trajectory Planning Using High-Order Polynomial For Highly Automated Driving Function

Milin Patel, Marzana Khatun, Rolf Jung, Michael Glaß

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

Journal ref 2021 International Conference on Electrical, Computer, Communications and Mechatronics Engineering (ICECCME)

Reduce Lap Time for Autonomous Racing with Curvature-Integrated MPCC Local Trajectory Planning Method

Zhouheng Li, Lei Xie, Cheng Hu, Hongye Su

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

A Generalized Control Revision Method for Autonomous Driving Safety

Zehang Zhu, Yuning Wang, Tianqi Ke, Zeyu Han, Shaobing Xu, Qing Xu, John M. Dolan, Jianqiang Wang

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

Chance-Constrained Trajectory Planning with Multimodal Environmental Uncertainty

Kai Ren, Heejin Ahn, Maryam Kamgarpour

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

Comments Published in IEEE Control Systems Letters

Journal ref in IEEE Control Systems Letters, vol. 7, pp. 13-18, 2023

A Data-Driven Aggressive Autonomous Racing Framework Utilizing Local Trajectory Planning with Velocity Prediction

Zhouheng Li, Bei Zhou, Cheng Hu, Lei Xie, Hongye Su

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

Trajectory-based Road Autolabeling with Lidar-Camera Fusion in Winter Conditions

Eerik Alamikkotervo, Henrik Toikka, Kari Tammi, Risto Ojala

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

Comments Small bugs fixed, noise filtering removed as it was removing useful points, failure case analysis added, dataset published

Generalizable Reinforcement Learning with Biologically Inspired Hyperdimensional Occupancy Grid Maps for Exploration and Goal-Directed Path Planning

Shay Snyder, Ryan Shea, Andrew Capodieci, David Gorsich, Maryam Parsa

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

Comments 9 pages, 6 figures, 3 tables

Efficient and Safe Trajectory Planning for Autonomous Agricultural Vehicle Headland Turning in Cluttered Orchard Environments

Peng Wei, Chen Peng, Wenwu Lu, Yuankai Zhu, Stavros Vougioukas, Zhenghao Fei, Zhikang Ge

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