{"id":"https://openalex.org/W4413017858","doi":"https://doi.org/10.1109/iv64158.2025.11097449","title":"PPP: Planning with Path-Informed Prediction for Autonomous Driving","display_name":"PPP: Planning with Path-Informed Prediction for Autonomous Driving","publication_year":2025,"publication_date":"2025-06-22","ids":{"openalex":"https://openalex.org/W4413017858","doi":"https://doi.org/10.1109/iv64158.2025.11097449"},"language":"en","primary_location":{"id":"doi:10.1109/iv64158.2025.11097449","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iv64158.2025.11097449","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE Intelligent Vehicles Symposium (IV)","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/A5008747668","display_name":"Ning Xi","orcid":"https://orcid.org/0009-0005-7740-4155"},"institutions":[{"id":"https://openalex.org/I196699116","display_name":"Wuhan University of Technology","ror":"https://ror.org/03fe7t173","country_code":"CN","type":"education","lineage":["https://openalex.org/I196699116"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ning Xi","raw_affiliation_strings":["The Intelligent Transportation Systems Research Center, Wuhan University of Technology,Wuhan,China,430063"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Intelligent Transportation Systems Research Center, Wuhan University of Technology,Wuhan,China,430063","institution_ids":["https://openalex.org/I196699116"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5041423958","display_name":"Duanfeng Chu","orcid":"https://orcid.org/0000-0001-5225-9143"},"institutions":[{"id":"https://openalex.org/I196699116","display_name":"Wuhan University of Technology","ror":"https://ror.org/03fe7t173","country_code":"CN","type":"education","lineage":["https://openalex.org/I196699116"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Duanfeng Chu","raw_affiliation_strings":["The Intelligent Transportation Systems Research Center, Wuhan University of Technology,Wuhan,China,430063"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Intelligent Transportation Systems Research Center, Wuhan University of Technology,Wuhan,China,430063","institution_ids":["https://openalex.org/I196699116"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5024182112","display_name":"Zejian Deng","orcid":"https://orcid.org/0000-0002-2765-3162"},"institutions":[{"id":"https://openalex.org/I151746483","display_name":"University of Waterloo","ror":"https://ror.org/01aff2v68","country_code":"CA","type":"education","lineage":["https://openalex.org/I151746483"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Zejian Deng","raw_affiliation_strings":["The University of Waterloo,The Mechatronic Vehicle Systems Lab,Waterloo,ON,Canada,N2L3G1"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The University of Waterloo,The Mechatronic Vehicle Systems Lab,Waterloo,ON,Canada,N2L3G1","institution_ids":["https://openalex.org/I151746483"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100852780","display_name":"Yongxing Cao","orcid":"https://orcid.org/0000-0003-4307-1805"},"institutions":[{"id":"https://openalex.org/I4210118728","display_name":"State Key Laboratory of Information Engineering in Surveying Mapping and Remote Sensing","ror":"https://ror.org/02bpap860","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210118728"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yongxing Cao","raw_affiliation_strings":["Wuhan University,The State Key Laboratory of Information Engineering in Surveying, Mapping and Remote Sensing,Wuhan,China,430072"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Wuhan University,The State Key Laboratory of Information Engineering in Surveying, Mapping and Remote Sensing,Wuhan,China,430072","institution_ids":["https://openalex.org/I4210118728"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100459231","display_name":"Feng Feng","orcid":"https://orcid.org/0000-0002-3507-1154"},"institutions":[{"id":"https://openalex.org/I196699116","display_name":"Wuhan University of Technology","ror":"https://ror.org/03fe7t173","country_code":"CN","type":"education","lineage":["https://openalex.org/I196699116"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Feng Feng","raw_affiliation_strings":["The Intelligent Transportation Systems Research Center, Wuhan University of Technology,Wuhan,China,430063"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Intelligent Transportation Systems Research Center, Wuhan University of Technology,Wuhan,China,430063","institution_ids":["https://openalex.org/I196699116"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Yanjun Huang","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":"Yanjun Huang","raw_affiliation_strings":["The School of Automotive Studies, Tongji University,Shanghai,China,201804"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The School of Automotive Studies, Tongji University,Shanghai,China,201804","institution_ids":["https://openalex.org/I116953780"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100328624","display_name":"Jinxiang Wang","orcid":"https://orcid.org/0000-0003-4039-8001"},"institutions":[{"id":"https://openalex.org/I76569877","display_name":"Southeast University","ror":"https://ror.org/04ct4d772","country_code":"CN","type":"education","lineage":["https://openalex.org/I76569877"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jinxiang Wang","raw_affiliation_strings":["The School of Mechanical Engineering, Southeast University,Nanjing,China,211189"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The School of Mechanical Engineering, Southeast University,Nanjing,China,211189","institution_ids":["https://openalex.org/I76569877"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"45","last_page":"52"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9983000159263611,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9983000159263611,"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":0.9836999773979187,"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/T11714","display_name":"Multimodal Machine Learning Applications","score":0.9757999777793884,"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/computer-science","display_name":"Computer science","score":0.6192673444747925},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.609169065952301},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.5718384981155396},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.34734058380126953},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.1707262396812439},{"id":"https://openalex.org/keywords/computer-network","display_name":"Computer network","score":0.16631975769996643}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6192673444747925},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.609169065952301},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5718384981155396},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.34734058380126953},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.1707262396812439},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.16631975769996643}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iv64158.2025.11097449","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iv64158.2025.11097449","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE Intelligent Vehicles Symposium (IV)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.4699999988079071,"display_name":"Climate action","id":"https://metadata.un.org/sdg/13"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":30,"referenced_works":["https://openalex.org/W1965455100","https://openalex.org/W3109791956","https://openalex.org/W3123730522","https://openalex.org/W3199048838","https://openalex.org/W3204875639","https://openalex.org/W4313189526","https://openalex.org/W4381198967","https://openalex.org/W4383109100","https://openalex.org/W4386076400","https://openalex.org/W4390871698","https://openalex.org/W4390872910","https://openalex.org/W4401109681","https://openalex.org/W4401413933","https://openalex.org/W4401416666","https://openalex.org/W4402727673","https://openalex.org/W4402778069","https://openalex.org/W4403771140","https://openalex.org/W4404524000","https://openalex.org/W4405786382","https://openalex.org/W6763422710","https://openalex.org/W6782468546","https://openalex.org/W6791253119","https://openalex.org/W6797256610","https://openalex.org/W6801415009","https://openalex.org/W6840335140","https://openalex.org/W6846271118","https://openalex.org/W6854323694","https://openalex.org/W6861319495","https://openalex.org/W6864741037","https://openalex.org/W6869456477"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W2359600231","https://openalex.org/W2380019117","https://openalex.org/W3138952546","https://openalex.org/W1987886368","https://openalex.org/W1660309994","https://openalex.org/W2369187583","https://openalex.org/W3197207153"],"abstract_inverted_index":{"With":[0],"the":[1,8,21,34,40,78,97,104,125],"rapid":[2],"advancement":[3],"of":[4,10,23,36],"end-to-end":[5],"autonomous":[6,24],"driving,":[7],"integration":[9],"prediction":[11],"and":[12,116,144],"planning":[13],"has":[14],"increasingly":[15],"become":[16],"a":[17,69,91],"research":[18],"focus":[19],"in":[20,47,107,113,118,133,137],"field":[22],"driving.":[25],"However,":[26],"most":[27],"existing":[28],"methods":[29],"do":[30],"not":[31],"adequately":[32],"consider":[33],"robustness":[35,117],"driving":[37,50,120],"trajectories":[38],"during":[39,96],"trajectory":[41,93,98],"generation,":[42],"making":[43],"them":[44],"less":[45],"effective":[46],"handling":[48],"complex":[49,119,138],"scenarios.":[51,121],"To":[52],"address":[53],"this":[54,56],"issue,":[55],"paper":[57],"introduces":[58],"Planning":[59],"with":[60,85],"Path-Informed":[61],"Prediction":[62],"for":[63],"Autonomous":[64],"Driving":[65],"(PPP),":[66],"which":[67,101],"constructs":[68],"prediction-decision":[70],"module":[71],"that":[72],"fuses":[73],"multi-dimensional":[74],"information":[75],"by":[76],"integrating":[77],"ego":[79],"vehicle's":[80],"potential":[81],"multimodal":[82],"future":[83],"paths":[84],"environmental":[86],"features.":[87],"Moreover,":[88],"we":[89],"introduce":[90],"multi-stage":[92],"evaluation":[94],"mechanism":[95],"generation":[99],"process,":[100],"significantly":[102],"enhances":[103],"system's":[105],"performance":[106],"dynamic":[108],"environments,":[109],"thereby":[110],"achieving":[111],"improvements":[112],"both":[114],"accuracy":[115],"Through":[122],"experiments":[123],"on":[124],"nuPlan":[126],"dataset,":[127],"our":[128],"method":[129],"demonstrates":[130],"exceptional":[131],"competitiveness":[132],"closed-loop":[134],"tests.":[135],"Notably,":[136],"scenario":[139],"tests,":[140],"PPP":[141],"outperforms":[142],"learning-based":[143],"hybrid":[145],"methods.":[146],"Code":[147],"will":[148],"be":[149],"available":[150],"under":[151],"https://github.com/Keria0812/PPP.":[152]},"counts_by_year":[],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
