A cascaded end-to-end driving model conditions longitudinal planning on the lateral path via anchor-based regression and path-conditioned 1D displacement prediction, achieving SOTA driving score of 89.07 and 73.18% success rate on Bench2Drive.
Each prediction is supervised independently
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AlignDrive: Aligned Lateral-Longitudinal Planning for End-to-End Autonomous Driving
A cascaded end-to-end driving model conditions longitudinal planning on the lateral path via anchor-based regression and path-conditioned 1D displacement prediction, achieving SOTA driving score of 89.07 and 73.18% success rate on Bench2Drive.