PPAD: Iterative Interactions of Prediction and Planning for End-to-end Autonomous Driving

arXiv:2311.08100v3 Announce Type: replace
Abstract: 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 integrate prediction and planning. An ego vehicle performs motion planning at each timestep based on the trajectory prediction of surrounding agents (e.g., vehicles and pedestrians) and its local road conditions. Unlike existing end-to-end autonomous driving frameworks, PPAD models the interactions among ego, agents, and …

abstract arxiv autonomous autonomous driving cs.cv cs.ro driving interactions iterative motion planning planning prediction type wise