Beijing University of Chemical Tehcnology

Xiaoming Xie

Hui Li

Wei Zhang

Li Wang

Zhiwei Li

Huaping Liu

Qifan Tan

Tianyu Shen

Kunfeng Wang

Fengli Lu

Zhiyu Zhang

A method and an apparatus for collaborative end-to-end large model-oriented self-driving trajectory decision-making are provided. The method includes: processing an RGB image from ego vehicle, an RGB image from surrounding vehicle, and an RGB image from road-side by using a first feature extraction network to obtain a first image feature, a second image feature, and a third image feature, respectively; fusing first image feature, second image feature, and third image feature to obtain an image fusion feature; processing point cloud data of road-side to obtain a road-side point cloud feature; processing image fusion feature and road-side point cloud feature to obtain a first BEV feature and a second BEV feature; fusing first BEV feature and second BEV feature to obtain a fused BEV feature; and fusing prompt information and fused BEV feature to obtain text information, and then processing text information to obtain an ego vehicle trajectory decision-making result.

Method and apparatus for collaborative end-to-end large model-oriented self-driving trajectory decision-making

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Beijing, China

Xiaoming Xie