{"id":"https://openalex.org/W7136499768","doi":"https://doi.org/10.1109/itsc60802.2025.11423844","title":"LeAD: The LLM Enhanced Planning System Converged with End-to-end Autonomous Driving","display_name":"LeAD: The LLM Enhanced Planning System Converged with End-to-end Autonomous Driving","publication_year":2025,"publication_date":"2025-11-18","ids":{"openalex":"https://openalex.org/W7136499768","doi":"https://doi.org/10.1109/itsc60802.2025.11423844"},"language":null,"primary_location":{"id":"doi:10.1109/itsc60802.2025.11423844","is_oa":false,"landing_page_url":"https://doi.org/10.1109/itsc60802.2025.11423844","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE 28th International Conference on Intelligent Transportation Systems (ITSC)","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/A5100321512","display_name":"Yuhang Zhang","orcid":"https://orcid.org/0009-0002-3524-2504"},"institutions":[{"id":"https://openalex.org/I116953780","display_name":"Tongji University","ror":"https://ror.org/03rc6as71","country_code":"CN","type":"education","lineage":["https://openalex.org/I116953780"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yuhang Zhang","raw_affiliation_strings":["College of Transportation, Tongji University,Shanghai,China,201804"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Transportation, Tongji University,Shanghai,China,201804","institution_ids":["https://openalex.org/I116953780"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5129529271","display_name":"Jiaqi Liu","orcid":null},"institutions":[{"id":"https://openalex.org/I116953780","display_name":"Tongji University","ror":"https://ror.org/03rc6as71","country_code":"CN","type":"education","lineage":["https://openalex.org/I116953780"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jiaqi Liu","raw_affiliation_strings":["College of Transportation, Tongji University,Shanghai,China,201804"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Transportation, Tongji University,Shanghai,China,201804","institution_ids":["https://openalex.org/I116953780"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5111339820","display_name":"Chengkai Xu","orcid":null},"institutions":[{"id":"https://openalex.org/I116953780","display_name":"Tongji University","ror":"https://ror.org/03rc6as71","country_code":"CN","type":"education","lineage":["https://openalex.org/I116953780"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chengkai Xu","raw_affiliation_strings":["College of Transportation, Tongji University,Shanghai,China,201804"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Transportation, Tongji University,Shanghai,China,201804","institution_ids":["https://openalex.org/I116953780"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5129417396","display_name":"Peng Hang","orcid":null},"institutions":[{"id":"https://openalex.org/I116953780","display_name":"Tongji University","ror":"https://ror.org/03rc6as71","country_code":"CN","type":"education","lineage":["https://openalex.org/I116953780"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Peng Hang","raw_affiliation_strings":["College of Transportation, Tongji University,Shanghai,China,201804"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Transportation, Tongji University,Shanghai,China,201804","institution_ids":["https://openalex.org/I116953780"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100701131","display_name":"Jian Sun","orcid":"https://orcid.org/0000-0001-9898-3129"},"institutions":[{"id":"https://openalex.org/I116953780","display_name":"Tongji University","ror":"https://ror.org/03rc6as71","country_code":"CN","type":"education","lineage":["https://openalex.org/I116953780"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jian Sun","raw_affiliation_strings":["College of Transportation, Tongji University,Shanghai,China,201804"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Transportation, Tongji University,Shanghai,China,201804","institution_ids":["https://openalex.org/I116953780"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I116953780"],"apc_list":null,"apc_paid":null,"fwci":5.6668,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.96811113,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"1028","last_page":"1035"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.2425999939441681,"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"}},"topics":[{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.2425999939441681,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.11630000174045563,"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/T10906","display_name":"AI-based Problem Solving and Planning","score":0.10029999911785126,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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/control-system","display_name":"Control system","score":0.30329999327659607},{"id":"https://openalex.org/keywords/work","display_name":"Work (physics)","score":0.28769999742507935},{"id":"https://openalex.org/keywords/action","display_name":"Action (physics)","score":0.273499995470047},{"id":"https://openalex.org/keywords/automation","display_name":"Automation","score":0.2712000012397766},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.27059999108314514}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5292999744415283},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.34459999203681946},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.30329999327659607},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.28769999742507935},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.2800999879837036},{"id":"https://openalex.org/C2780791683","wikidata":"https://www.wikidata.org/wiki/Q846785","display_name":"Action (physics)","level":2,"score":0.273499995470047},{"id":"https://openalex.org/C115901376","wikidata":"https://www.wikidata.org/wiki/Q184199","display_name":"Automation","level":2,"score":0.2712000012397766},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.27059999108314514},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.26570001244544983},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.2581000030040741},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.2551000118255615}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/itsc60802.2025.11423844","is_oa":false,"landing_page_url":"https://doi.org/10.1109/itsc60802.2025.11423844","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE 28th International Conference on Intelligent Transportation Systems (ITSC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.5319202542304993}],"awards":[{"id":"https://openalex.org/G3075053662","display_name":null,"funder_award_id":"52302502","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation 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/F4320335787","display_name":"Fundamental Research Funds for the Central Universities","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":30,"referenced_works":["https://openalex.org/W2194775991","https://openalex.org/W2566124080","https://openalex.org/W2905173465","https://openalex.org/W2909642387","https://openalex.org/W2968296999","https://openalex.org/W2978802601","https://openalex.org/W3034445502","https://openalex.org/W3172863135","https://openalex.org/W3193987867","https://openalex.org/W3198919602","https://openalex.org/W3204875639","https://openalex.org/W3212409086","https://openalex.org/W4214759451","https://openalex.org/W4292347911","https://openalex.org/W4383066393","https://openalex.org/W4385245566","https://openalex.org/W4386066695","https://openalex.org/W4386076400","https://openalex.org/W4390872706","https://openalex.org/W4392817084","https://openalex.org/W4394586064","https://openalex.org/W4396881981","https://openalex.org/W4401386967","https://openalex.org/W4401414574","https://openalex.org/W4402727495","https://openalex.org/W4402753802","https://openalex.org/W4404820176","https://openalex.org/W4404985202","https://openalex.org/W7133208528","https://openalex.org/W7133224126"],"related_works":[],"abstract_inverted_index":{"A":[0],"principal":[1],"barrier":[2],"to":[3,24],"large-scale":[4],"deployment":[5],"of":[6,15,35,115,129],"urban":[7],"autonomous":[8,52],"driving":[9,53],"systems":[10,22],"lies":[11],"in":[12,107],"the":[13,76,108],"prevalence":[14],"complex":[16],"scenarios":[17],"and":[18,32,90],"edge":[19],"cases.":[20],"Existing":[21],"fail":[23],"effectively":[25],"interpret":[26],"semantic":[27],"information":[28],"within":[29],"traffic":[30],"contexts":[31],"discern":[33],"intentions":[34],"other":[36],"participants,":[37],"consequently":[38],"generating":[39],"decisions":[40,93],"misaligned":[41],"with":[42,61,87,125],"skilled":[43],"drivers'":[44],"reasoning":[45,97],"patterns.":[46],"We":[47],"present":[48],"LeAD,":[49],"a":[50,126],"dual-rate":[51],"architecture":[54],"integrating":[55],"imitation":[56],"learning-based":[57],"end-to-end":[58],"(E2E)":[59],"frameworks":[60],"large":[62],"language":[63],"model":[64],"(LLM)":[65],"augmentation.":[66],"The":[67],"high-frequency":[68],"E2E":[69],"subsystem":[70],"maintains":[71],"real-time":[72],"perception-planning-control":[73],"cycles,":[74],"while":[75],"low-frequency":[77],"LLM":[78],"module":[79],"enhances":[80],"scenario":[81],"comprehension":[82],"through":[83],"multimodal":[84],"perception":[85],"fusion":[86],"HD":[88],"maps":[89],"derives":[91],"optimal":[92],"via":[94],"chain-of-thought":[95],"(CoT)":[96],"when":[98],"baseline":[99],"planners":[100],"encounter":[101],"capability":[102],"limitations.":[103],"Our":[104],"experimental":[105],"evaluation":[106],"CARLA":[109],"Simulator":[110],"demonstrates":[111],"LeAD's":[112],"superior":[113],"handling":[114],"unconventional":[116],"scenarios,":[117],"achieving":[118],"71":[119],"points":[120],"on":[121],"Leaderboard":[122],"V1":[123],"benchmark,":[124],"route":[127],"completion":[128],"93%.":[130]},"counts_by_year":[{"year":2026,"cited_by_count":2}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2026-03-17T00:00:00"}