{"id":"https://openalex.org/W4312288930","doi":"https://doi.org/10.1109/iros47612.2022.9982143","title":"Attention-Based Deep Driving Model for Autonomous Vehicles with Surround-View Cameras","display_name":"Attention-Based Deep Driving Model for Autonomous Vehicles with Surround-View Cameras","publication_year":2022,"publication_date":"2022-10-23","ids":{"openalex":"https://openalex.org/W4312288930","doi":"https://doi.org/10.1109/iros47612.2022.9982143"},"language":"en","primary_location":{"id":"doi:10.1109/iros47612.2022.9982143","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros47612.2022.9982143","pdf_url":null,"source":{"id":"https://openalex.org/S4363607704","display_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5115602222","display_name":"Yang Zhao","orcid":"https://orcid.org/0000-0002-3883-4997"},"institutions":[{"id":"https://openalex.org/I150229711","display_name":"University of Electronic Science and Technology of China","ror":"https://ror.org/04qr3zq92","country_code":"CN","type":"education","lineage":["https://openalex.org/I150229711"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yang Zhao","raw_affiliation_strings":["School of Automation Engineering, University of Electronic Science and Technology of China,Center for Robotics,Chengdu,China,611731"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Automation Engineering, University of Electronic Science and Technology of China,Center for Robotics,Chengdu,China,611731","institution_ids":["https://openalex.org/I150229711"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100428184","display_name":"Jie Li","orcid":"https://orcid.org/0000-0001-8492-8882"},"institutions":[{"id":"https://openalex.org/I150229711","display_name":"University of Electronic Science and Technology of China","ror":"https://ror.org/04qr3zq92","country_code":"CN","type":"education","lineage":["https://openalex.org/I150229711"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jie Li","raw_affiliation_strings":["School of Automation Engineering, University of Electronic Science and Technology of China,Center for Robotics,Chengdu,China,611731"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Automation Engineering, University of Electronic Science and Technology of China,Center for Robotics,Chengdu,China,611731","institution_ids":["https://openalex.org/I150229711"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5077201126","display_name":"Rui Huang","orcid":"https://orcid.org/0000-0002-2912-3616"},"institutions":[{"id":"https://openalex.org/I150229711","display_name":"University of Electronic Science and Technology of China","ror":"https://ror.org/04qr3zq92","country_code":"CN","type":"education","lineage":["https://openalex.org/I150229711"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Rui Huang","raw_affiliation_strings":["School of Automation Engineering, University of Electronic Science and Technology of China,Center for Robotics,Chengdu,China,611731"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Automation Engineering, University of Electronic Science and Technology of China,Center for Robotics,Chengdu,China,611731","institution_ids":["https://openalex.org/I150229711"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025132563","display_name":"Boqi Li","orcid":"https://orcid.org/0000-0001-8959-1406"},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Boqi Li","raw_affiliation_strings":["University of Michigan,Mechanical Engineering Department,Ann Arbor,MI,USA,48105"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Michigan,Mechanical Engineering Department,Ann Arbor,MI,USA,48105","institution_ids":["https://openalex.org/I27837315"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5073908409","display_name":"Ao Luo","orcid":"https://orcid.org/0000-0003-3494-8062"},"institutions":[{"id":"https://openalex.org/I150229711","display_name":"University of Electronic Science and Technology of China","ror":"https://ror.org/04qr3zq92","country_code":"CN","type":"education","lineage":["https://openalex.org/I150229711"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ao Luo","raw_affiliation_strings":["School of Automation Engineering, University of Electronic Science and Technology of China,Center for Robotics,Chengdu,China,611731"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Automation Engineering, University of Electronic Science and Technology of China,Center for Robotics,Chengdu,China,611731","institution_ids":["https://openalex.org/I150229711"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5026770433","display_name":"Yaochen Li","orcid":"https://orcid.org/0000-0001-5741-5280"},"institutions":[{"id":"https://openalex.org/I87445476","display_name":"Xi'an Jiaotong University","ror":"https://ror.org/017zhmm22","country_code":"CN","type":"education","lineage":["https://openalex.org/I87445476"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yaochen Li","raw_affiliation_strings":["School of Software Egineering, Xi&#x0027;an Jiaotong University,Xi&#x0027;an,China,710049"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Software Egineering, Xi&#x0027;an Jiaotong University,Xi&#x0027;an,China,710049","institution_ids":["https://openalex.org/I87445476"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101984697","display_name":"Hong Cheng","orcid":"https://orcid.org/0000-0002-4673-2587"},"institutions":[{"id":"https://openalex.org/I150229711","display_name":"University of Electronic Science and Technology of China","ror":"https://ror.org/04qr3zq92","country_code":"CN","type":"education","lineage":["https://openalex.org/I150229711"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hong Cheng","raw_affiliation_strings":["School of Automation Engineering, University of Electronic Science and Technology of China,Center for Robotics,Chengdu,China,611731"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Automation Engineering, University of Electronic Science and Technology of China,Center for Robotics,Chengdu,China,611731","institution_ids":["https://openalex.org/I150229711"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0925,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.3967275,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"286","last_page":"292"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10036","display_name":"Advanced Neural Network Applications","score":0.9997000098228455,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10036","display_name":"Advanced Neural Network Applications","score":0.9997000098228455,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9994999766349792,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10331","display_name":"Video Surveillance and Tracking Methods","score":0.9970999956130981,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/benchmarking","display_name":"Benchmarking","score":0.9023982882499695},{"id":"https://openalex.org/keywords/benchmark","display_name":"Benchmark (surveying)","score":0.7906651496887207},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7694145441055298},{"id":"https://openalex.org/keywords/planner","display_name":"Planner","score":0.7029117345809937},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6364353895187378},{"id":"https://openalex.org/keywords/deep-learning","display_name":"Deep learning","score":0.552625298500061},{"id":"https://openalex.org/keywords/code","display_name":"Code (set theory)","score":0.5432463884353638},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.38968944549560547},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.35458672046661377}],"concepts":[{"id":"https://openalex.org/C86251818","wikidata":"https://www.wikidata.org/wiki/Q816754","display_name":"Benchmarking","level":2,"score":0.9023982882499695},{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.7906651496887207},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7694145441055298},{"id":"https://openalex.org/C2776999362","wikidata":"https://www.wikidata.org/wiki/Q2349274","display_name":"Planner","level":2,"score":0.7029117345809937},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6364353895187378},{"id":"https://openalex.org/C108583219","wikidata":"https://www.wikidata.org/wiki/Q197536","display_name":"Deep learning","level":2,"score":0.552625298500061},{"id":"https://openalex.org/C2776760102","wikidata":"https://www.wikidata.org/wiki/Q5139990","display_name":"Code (set theory)","level":3,"score":0.5432463884353638},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.38968944549560547},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.35458672046661377},{"id":"https://openalex.org/C13280743","wikidata":"https://www.wikidata.org/wiki/Q131089","display_name":"Geodesy","level":1,"score":0.0},{"id":"https://openalex.org/C144133560","wikidata":"https://www.wikidata.org/wiki/Q4830453","display_name":"Business","level":0,"score":0.0},{"id":"https://openalex.org/C162853370","wikidata":"https://www.wikidata.org/wiki/Q39809","display_name":"Marketing","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.0},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros47612.2022.9982143","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros47612.2022.9982143","pdf_url":null,"source":{"id":"https://openalex.org/S4363607704","display_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16","score":0.8100000023841858}],"awards":[{"id":"https://openalex.org/G3967773244","display_name":null,"funder_award_id":"U1964203,62003073","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G5769824899","display_name":null,"funder_award_id":"2018AAA0102504","funder_id":"https://openalex.org/F4320335777","funder_display_name":"National Key Research and Development Program of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320335777","display_name":"National Key Research and Development Program of China","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":37,"referenced_works":["https://openalex.org/W2128570460","https://openalex.org/W2194775991","https://openalex.org/W2342840547","https://openalex.org/W2559767995","https://openalex.org/W2565410644","https://openalex.org/W2745461083","https://openalex.org/W2745467776","https://openalex.org/W2768997245","https://openalex.org/W2837605352","https://openalex.org/W2884585870","https://openalex.org/W2887286974","https://openalex.org/W2953303875","https://openalex.org/W2962762260","https://openalex.org/W2962858109","https://openalex.org/W2962894046","https://openalex.org/W2963091558","https://openalex.org/W2963420686","https://openalex.org/W2963495494","https://openalex.org/W2968874268","https://openalex.org/W2982419388","https://openalex.org/W3003878797","https://openalex.org/W3005144376","https://openalex.org/W3034606970","https://openalex.org/W3034670324","https://openalex.org/W3133427233","https://openalex.org/W3184241125","https://openalex.org/W4288407465","https://openalex.org/W4293580146","https://openalex.org/W4300172425","https://openalex.org/W6679434410","https://openalex.org/W6704559304","https://openalex.org/W6737454590","https://openalex.org/W6743448849","https://openalex.org/W6744454805","https://openalex.org/W6760710844","https://openalex.org/W6779257584","https://openalex.org/W6786117296"],"related_works":["https://openalex.org/W4238897586","https://openalex.org/W435179959","https://openalex.org/W2619091065","https://openalex.org/W2059640416","https://openalex.org/W1490753184","https://openalex.org/W2284465472","https://openalex.org/W2291782699","https://openalex.org/W1993948687","https://openalex.org/W2000169967","https://openalex.org/W4399363378"],"abstract_inverted_index":{"Experienced":[0],"human":[1,46,100],"drivers":[2,47],"always":[3],"make":[4],"safe":[5],"driving":[6,28,74,115],"decisions":[7],"by":[8],"selectively":[9],"observing":[10],"the":[11,83,107],"front,":[12],"rear":[13],"and":[14,82,130],"side-":[15],"view":[16],"mirrors.":[17],"Several":[18],"end":[19],"-":[20],"to-end":[21],"methods":[22,37],"have":[23],"been":[24],"pro-posed":[25],"to":[26,71],"learn":[27,72],"models":[29],"with":[30,55,76,110],"multi-view":[31,42,89],"visual":[32,57,80],"infor-mation.":[33],"However,":[34],"these":[35,50],"benchmark":[36],"lack":[38],"semantic":[39],"understanding":[40],"of":[41,59,78,97,112],"image":[43],"contents,":[44],"where":[45],"usually":[48],"reason":[49],"information":[51,81],"for":[52,94],"decision":[53],"making":[54],"different":[56],"region":[58,96],"interests.":[60],"In":[61],"this":[62],"paper,":[63],"we":[64],"propose":[65],"an":[66],"attention-based":[67],"deep":[68,114],"learning":[69],"method":[70],"a":[73,88,123],"model":[75,105,121],"input":[77],"surround-view":[79],"route":[84],"planner,":[85],"in":[86,126],"which":[87],"attention":[90],"module":[91],"is":[92,137],"designed":[93],"obtaining":[95],"interests":[98],"from":[99],"drivers.":[101],"We":[102],"evaluate":[103],"our":[104,120],"on":[106],"Drive360":[108],"dataset":[109],"comparison":[111],"benchmarking":[113,134],"models.":[116],"Results":[117],"demonstrate":[118],"that":[119],"achieves":[122],"competitive":[124],"accuracy":[125],"both":[127],"steering":[128],"angle":[129],"speed":[131],"prediction":[132],"than":[133],"methods.":[135],"Code":[136],"available":[138],"at":[139],"https://githuh.com/jet-uestc/MVA-Net.":[140]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}
