End-to-End Autonomous Driving through V2X Cooperation

Cooperatively utilizing both ego-vehicle and infrastructure sensor data via V2X communication has emerged as a promising approach for advanced autonomous driving. However, current research mainly focuses on improving individual modules, rather than taking end-to-end learning to optimize final planning performance, resulting in underutilized data potential. In this paper, we introduce UniV2X, a pioneering cooperative autonomous driving framework that seamlessly integrates all key driving modules across diverse views into a unified network. We propose a sparse-dense hybrid data transmission and fusion mechanism for effective vehicle-infrastructure cooperation, offering three advantages: 1) Effective for simultaneously enhancing agent perception, online mapping, and occupancy prediction, ultimately improving planning performance. 2) Transmission-friendly for practical and limited communication conditions. 3) Reliable data fusion with interpretability of this hybrid data. We implement UniV2X, as well as reproducing several benchmark methods, on the challenging DAIR-V2X, the real-world cooperative driving dataset. Experimental results demonstrate the effectiveness of UniV2X in significantly enhancing planning performance, as well as all intermediate output performance. Code is at https://github.com/AIR-THU/UniV2X.

V2X-Seq: A Large-Scale Sequential Dataset for Vehicle-Infrastructure Cooperative Perception and Forecasting

Utilizing infrastructure and vehicle-side information to track and forecast the behaviors of surrounding traffic participants can significantly improve decision-making and safety in autonomous driving. However, the lack of real-world sequential datasets limits research in this area. To address this issue, we introduce V2X-Seq, the first large-scale sequential V2X dataset, which includes data frames, trajectories, vector maps, and traffic lights captured from natural scenery. V2X-Seq comprises two parts: the sequential perception dataset, which includes more than 15,000 frames captured from 95 scenarios, and the trajectory forecasting dataset, which contains about 80,000 infrastructure-view scenarios, 80,000 vehicle-view scenarios, and 50,000 cooperative-view scenarios captured from 28 intersections' areas, covering 672 hours of data. Based on V2X-Seq, we introduce three new tasks for vehicle-infrastructure cooperative (VIC) autonomous driving: VIC3D Tracking, Online-VIC Forecasting, and Offline-VIC Forecasting. We also provide benchmarks for the introduced tasks. Find data, code, and more up-to-date information at \href{https://github.com/AIR-THU/DAIR-V2X-Seq}{https://github.com/AIR-THU/DAIR-V2X-Seq}.

Neural Networks for Latent Budget Analysis of Compositional Data

Compositional data are non-negative data collected in a rectangular matrix with a constant row sum. Due to the non-negativity the focus is on conditional proportions that add up to 1 for each row. A row of conditional proportions is called an observed budget. Latent budget analysis (LBA) assumes a mixture of latent budgets that explains the observed budgets. LBA is usually fitted to a contingency table, where the rows are levels of one or more explanatory variables and the columns the levels of a response variable. In prospective studies, there is only knowledge about the explanatory variables of individuals and interest goes out to predicting the response variable. Thus, a form of LBA is needed that has the functionality of prediction. Previous studies proposed a constrained neural network (NN) extension of LBA that was hampered by an unsatisfying prediction ability. Here we propose LBA-NN, a feed forward NN model that yields a similar interpretation to LBA but equips LBA with a better ability of prediction. A stable and plausible interpretation of LBA-NN is obtained through the use of importance plots and table, that show the relative importance of all explanatory variables on the response variable. An LBA-NN-K- means approach that applies K-means clustering on the importance table is used to produce K clusters that are comparable to K latent budgets in LBA. Here we provide different experiments where LBA-NN is implemented and compared with LBA. In our analysis, LBA-NN outperforms LBA in prediction in terms of accuracy, specificity, recall and mean square error. We provide open-source software at GitHub.