无人驾驶ICML 20252025
End-to-End Driving with Online HD Map Construction
Yicheng Liu, Tianyuan Yuan, Yue Wang, Hang ZhaoTsinghua University, Shanghai AI Lab
摘要
We present an end-to-end driving approach that simultaneously constructs online HD maps and plans trajectories. Our method eliminates the dependency on pre-built maps by building local maps in real-time from sensor data, enabling driving in unmapped areas with high accuracy.
end-to-end drivingonline HD mapreal-time mappingtrajectory planningunmapped areas
技术细节
数据集
模型骨架
UniAD + MapTR Online Mapping
编码器
BEV Encoder + Map Query Encoder
解码器
Joint Planning + Mapping Decoder (8 layers)