The paper presents two key components for developing collaborative autonomous driving:
V2Xverse, a comprehensive simulation platform for collaborative autonomous driving. V2Xverse enables both offline benchmark generation for driving-related subtasks and online closed-loop driving performance evaluation in diverse scenarios. Compared to existing platforms, V2Xverse supports multi-agent simulation, full driving functions simulation, and comprehensive V2X-AD scenarios.
CoDriving, a novel end-to-end collaborative autonomous driving system. CoDriving leverages a driving-oriented communication strategy to selectively share driving-critical perceptual information, which is then used to enhance the entire driving pipeline, including perception, prediction, and control. CoDriving outperforms single-agent end-to-end driving methods and demonstrates adaptability to different communication conditions.
The comprehensive experiments validate the effectiveness of V2Xverse and CoDriving. CoDriving improves the driving score by 62.49% and reduces the pedestrian collision rate by 53.50% compared to the state-of-the-art single-agent end-to-end driving method.
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by Genjia Liu,Y... at arxiv.org 04-16-2024
https://arxiv.org/pdf/2404.09496.pdfDeeper Inquiries