Learning Interpretable End-to-End Vision-Based Motion Planning for Autonomous Driving with Optical Flow Distillation

Hengli Wang, Peide Cai, Yuxiang Sun, Lujia Wang, Ming Liu

Research output: Chapter in book / Conference proceedingConference article published in proceeding or bookAcademic researchpeer-review

6 Citations (Scopus)

Abstract

Recently, deep-learning based approaches have achieved impressive performance for autonomous driving. However, end-to-end vision-based methods typically have limited interpretability, making the behaviors of the deep networks difficult to explain. Hence, their potential applications could be limited in practice. To address this problem, we propose an interpretable end-to-end vision-based motion planning approach for autonomous driving, referred to as IVMP. Given a set of past surrounding-view images, our IVMP first predicts future egocentric semantic maps in bird's-eye-view space, which are then employed to plan trajectories for self-driving vehicles. The predicted future semantic maps not only provide useful interpretable information, but also allow our motion planning module to handle objects with low probability, thus improving the safety of autonomous driving. Moreover, we also develop an optical flow distillation paradigm, which can effectively enhance the network while still maintaining its real-time performance. Extensive experiments on the nuScenes dataset and closed-loop simulation show that our IVMP significantly outperforms the state-of-the-art approaches in imitating human drivers with a much higher success rate. Our project page is available at https://sites.google.com/view/ivmp.

Original languageEnglish
Title of host publication2021 IEEE International Conference on Robotics and Automation, ICRA 2021
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages13731-13737
Number of pages7
ISBN (Electronic)9781728190778
DOIs
Publication statusPublished - Oct 2021
Event2021 IEEE International Conference on Robotics and Automation, ICRA 2021 - Xi'an, China
Duration: 30 May 20215 Jun 2021

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
Volume2021-May
ISSN (Print)1050-4729

Conference

Conference2021 IEEE International Conference on Robotics and Automation, ICRA 2021
Country/TerritoryChina
CityXi'an
Period30/05/215/06/21

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

Fingerprint

Dive into the research topics of 'Learning Interpretable End-to-End Vision-Based Motion Planning for Autonomous Driving with Optical Flow Distillation'. Together they form a unique fingerprint.

Cite this