MAP: End-to-End Autonomous Driving with Map-Assisted Planning
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arXiv
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| Autori principali: | , , |
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| Natura: | Preprint |
| Pubblicazione: |
2025
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| _version_ | 1866911159295148032 |
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| author | Yin, Huilin Kan, Yiming Watzenig, Daniel |
| author_facet | Yin, Huilin Kan, Yiming Watzenig, Daniel |
| contents | In recent years, end-to-end autonomous driving has attracted increasing attention for its ability to jointly model perception, prediction, and planning within a unified framework. However, most existing approaches underutilize the online mapping module, leaving its potential to enhance trajectory planning largely untapped. This paper proposes MAP (Map-Assisted Planning), a novel map-assisted end-to-end trajectory planning framework. MAP explicitly integrates segmentation-based map features and the current ego status through a Plan-enhancing Online Mapping module, an Ego-status-guided Planning module, and a Weight Adapter based on current ego status. Experiments conducted on the DAIR-V2X-seq-SPD dataset demonstrate that the proposed method achieves a 16.6% reduction in L2 displacement error, a 56.2% reduction in off-road rate, and a 44.5% improvement in overall score compared to the UniV2X baseline, even without post-processing. Furthermore, it achieves top ranking in Track 2 of the End-to-End Autonomous Driving through V2X Cooperation Challenge of MEIS Workshop @CVPR2025, outperforming the second-best model by 39.5% in terms of overall score. These results highlight the effectiveness of explicitly leveraging semantic map features in planning and suggest new directions for improving structure design in end-to-end autonomous driving systems. Our code is available at https://gitee.com/kymkym/map.git |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2509_13926 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | MAP: End-to-End Autonomous Driving with Map-Assisted Planning Yin, Huilin Kan, Yiming Watzenig, Daniel Robotics Artificial Intelligence Computer Vision and Pattern Recognition I.2.9; I.2.10 In recent years, end-to-end autonomous driving has attracted increasing attention for its ability to jointly model perception, prediction, and planning within a unified framework. However, most existing approaches underutilize the online mapping module, leaving its potential to enhance trajectory planning largely untapped. This paper proposes MAP (Map-Assisted Planning), a novel map-assisted end-to-end trajectory planning framework. MAP explicitly integrates segmentation-based map features and the current ego status through a Plan-enhancing Online Mapping module, an Ego-status-guided Planning module, and a Weight Adapter based on current ego status. Experiments conducted on the DAIR-V2X-seq-SPD dataset demonstrate that the proposed method achieves a 16.6% reduction in L2 displacement error, a 56.2% reduction in off-road rate, and a 44.5% improvement in overall score compared to the UniV2X baseline, even without post-processing. Furthermore, it achieves top ranking in Track 2 of the End-to-End Autonomous Driving through V2X Cooperation Challenge of MEIS Workshop @CVPR2025, outperforming the second-best model by 39.5% in terms of overall score. These results highlight the effectiveness of explicitly leveraging semantic map features in planning and suggest new directions for improving structure design in end-to-end autonomous driving systems. Our code is available at https://gitee.com/kymkym/map.git |
| title | MAP: End-to-End Autonomous Driving with Map-Assisted Planning |
| topic | Robotics Artificial Intelligence Computer Vision and Pattern Recognition I.2.9; I.2.10 |
| url | https://arxiv.org/abs/2509.13926 |