Trajectory-guided Control Prediction for End-to-end Autonomous Driving: A Simple yet Strong Baseline. (arXiv:2206.08129v1 [cs.CV])

Current end-to-end autonomous driving methods either run a controller based
on a planned trajectory or perform control prediction directly, which have
spanned two separately studied lines of research. Seeing their potential mutual
benefits to each other, this paper takes the initiative to explore the
combination of these two well-developed worlds. Specifically, our integrated
approach has two branches for trajectory planning and direct control,
respectively. The trajectory branch predicts the future trajectory, while the
control branch involves a novel multi-step prediction …

arxiv autonomous autonomous driving cv driving prediction