Core Concepts
Efficiently integrating multi-modal data and incorporating driver attention enhances autonomous driving safety and performance.
Abstract
The paper introduces M2DA, a framework for autonomous driving that focuses on efficient multi-modal environment perception and human-like scene understanding. It proposes the LVAFusion module to better fuse multi-modal data and achieve higher alignment between different modalities. By incorporating driver attention, the model empowers autonomous vehicles with human-like scene understanding abilities. Experiments conducted on CARLA simulator show state-of-the-art performance in closed-loop benchmarks.
Directory:
Introduction
Progress in end-to-end autonomous driving.
Challenges in extensive deployment of autonomous vehicles.
Sensor Fusion Methods for Autonomous Driving
Importance of multi-modal sensor fusion.
Integration of RGB images with depth and semantic data.
Driver Attention Prediction
Significance of predicting driver attention.
Various models used for driver attention prediction.
M2DA Framework Overview
Components: Driver Attention Prediction, LVAFusion, Transformer.
Experiments
Implementation details on CARLA simulator.
Training dataset collection and benchmarks used.
Comparison with State-of-the-Art (SOTA)
Performance comparison with existing methods on Town05 Long benchmark.
Ablation Studies
Impact of different sensor inputs and components of M2DA architecture on driving performance.
Stats
"M2DA achieves state-of-the-art performance."
"LVAFusion significantly enhances driving score."
Quotes
"Adding more information should yield the same performance at the minimum."
"Driver attention can serve as a critical risk indicator."