{"id":"https://openalex.org/W4413017774","doi":"https://doi.org/10.1109/iv64158.2025.11097569","title":"PA-TCP: Interpretable End-to-End Autonomous Driving Through Parallel Adaptive Attention Mechanism and State Representation","display_name":"PA-TCP: Interpretable End-to-End Autonomous Driving Through Parallel Adaptive Attention Mechanism and State Representation","publication_year":2025,"publication_date":"2025-06-22","ids":{"openalex":"https://openalex.org/W4413017774","doi":"https://doi.org/10.1109/iv64158.2025.11097569"},"language":"en","primary_location":{"id":"doi:10.1109/iv64158.2025.11097569","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iv64158.2025.11097569","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/A5104213682","display_name":"Dongzhuo Wang","orcid":null},"institutions":[{"id":"https://openalex.org/I16609230","display_name":"Hunan University","ror":"https://ror.org/05htk5m33","country_code":"CN","type":"education","lineage":["https://openalex.org/I16609230"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Dongzhuo Wang","raw_affiliation_strings":["College of Mechanical and Vehicle Engineering, Hunan University,Changsha,China,410082"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Mechanical and Vehicle Engineering, Hunan University,Changsha,China,410082","institution_ids":["https://openalex.org/I16609230"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103256821","display_name":"Yang Li","orcid":"https://orcid.org/0009-0008-8189-948X"},"institutions":[{"id":"https://openalex.org/I16609230","display_name":"Hunan University","ror":"https://ror.org/05htk5m33","country_code":"CN","type":"education","lineage":["https://openalex.org/I16609230"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yang Li","raw_affiliation_strings":["College of Mechanical and Vehicle Engineering, Hunan University,Changsha,China,410082"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Mechanical and Vehicle Engineering, Hunan University,Changsha,China,410082","institution_ids":["https://openalex.org/I16609230"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5027602901","display_name":"Weisi Chen","orcid":"https://orcid.org/0000-0001-8131-392X"},"institutions":[{"id":"https://openalex.org/I16609230","display_name":"Hunan University","ror":"https://ror.org/05htk5m33","country_code":"CN","type":"education","lineage":["https://openalex.org/I16609230"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Weisi Chen","raw_affiliation_strings":["College of Mechanical and Vehicle Engineering, Hunan University,Changsha,China,410082"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Mechanical and Vehicle Engineering, Hunan University,Changsha,China,410082","institution_ids":["https://openalex.org/I16609230"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5014660733","display_name":"Xiaolong Jiang","orcid":"https://orcid.org/0000-0001-8691-074X"},"institutions":[{"id":"https://openalex.org/I16609230","display_name":"Hunan University","ror":"https://ror.org/05htk5m33","country_code":"CN","type":"education","lineage":["https://openalex.org/I16609230"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiaolong Jiang","raw_affiliation_strings":["College of Mechanical and Vehicle Engineering, Hunan University,Changsha,China,410082"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Mechanical and Vehicle Engineering, Hunan University,Changsha,China,410082","institution_ids":["https://openalex.org/I16609230"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102128057","display_name":"Yao Mu","orcid":null},"institutions":[{"id":"https://openalex.org/I889458895","display_name":"University of Hong Kong","ror":"https://ror.org/02zhqgq86","country_code":"HK","type":"education","lineage":["https://openalex.org/I889458895"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Yao Mu","raw_affiliation_strings":["College of Computer Science, Hong Kong University,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Computer Science, Hong Kong University,China","institution_ids":["https://openalex.org/I889458895"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5086491465","display_name":"Dachuan Li","orcid":"https://orcid.org/0000-0002-7267-9951"},"institutions":[{"id":"https://openalex.org/I4210140549","display_name":"Skyworth (China)","ror":"https://ror.org/03wb8cw02","country_code":"CN","type":"company","lineage":["https://openalex.org/I4210140549"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Dachuan Li","raw_affiliation_strings":["Research Institute of Trustworthy Autonomous Systems,Shenzhen,China,518055"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Research Institute of Trustworthy Autonomous Systems,Shenzhen,China,518055","institution_ids":["https://openalex.org/I4210140549"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1725","last_page":"1731"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T13702","display_name":"Machine Learning in Healthcare","score":0.968500018119812,"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"}},"topics":[{"id":"https://openalex.org/T13702","display_name":"Machine Learning in Healthcare","score":0.968500018119812,"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"}},{"id":"https://openalex.org/T12026","display_name":"Explainable Artificial Intelligence (XAI)","score":0.9614999890327454,"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"}},{"id":"https://openalex.org/T11689","display_name":"Adversarial Robustness in Machine Learning","score":0.9394999742507935,"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/end-to-end-principle","display_name":"End-to-end principle","score":0.7582967281341553},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6968172788619995},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.6344570517539978},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.634093165397644},{"id":"https://openalex.org/keywords/state","display_name":"State (computer science)","score":0.5000424385070801},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3362233638763428},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.17684093117713928}],"concepts":[{"id":"https://openalex.org/C74296488","wikidata":"https://www.wikidata.org/wiki/Q2527392","display_name":"End-to-end principle","level":2,"score":0.7582967281341553},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6968172788619995},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.6344570517539978},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.634093165397644},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.5000424385070801},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3362233638763428},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.17684093117713928},{"id":"https://openalex.org/C94625758","wikidata":"https://www.wikidata.org/wiki/Q7163","display_name":"Politics","level":2,"score":0.0},{"id":"https://openalex.org/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","level":1,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iv64158.2025.11097569","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iv64158.2025.11097569","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":0.4099999964237213,"display_name":"Reduced inequalities","id":"https://metadata.un.org/sdg/10"}],"awards":[{"id":"https://openalex.org/G3241404826","display_name":null,"funder_award_id":"2023YFB2504701,2023YFB2504704","funder_id":"https://openalex.org/F4320335777","funder_display_name":"National Key Research and Development Program of China"},{"id":"https://openalex.org/G4715663007","display_name":null,"funder_award_id":"52302493,52272419","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/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":32,"referenced_works":["https://openalex.org/W2194775991","https://openalex.org/W2752782242","https://openalex.org/W2948153973","https://openalex.org/W2962894046","https://openalex.org/W3009593063","https://openalex.org/W3172863135","https://openalex.org/W3193987867","https://openalex.org/W3212409086","https://openalex.org/W4283076523","https://openalex.org/W4283392354","https://openalex.org/W4288804588","https://openalex.org/W4289752563","https://openalex.org/W4292347911","https://openalex.org/W4312396550","https://openalex.org/W4312862130","https://openalex.org/W4385970268","https://openalex.org/W4386066695","https://openalex.org/W4386071585","https://openalex.org/W4386076400","https://openalex.org/W4389262616","https://openalex.org/W4399598145","https://openalex.org/W4401109681","https://openalex.org/W4402426719","https://openalex.org/W4402727673","https://openalex.org/W4403747684","https://openalex.org/W6772033386","https://openalex.org/W6839043673","https://openalex.org/W6841094356","https://openalex.org/W6855789261","https://openalex.org/W6869456477","https://openalex.org/W6871870608","https://openalex.org/W6873649953"],"related_works":["https://openalex.org/W2151749779","https://openalex.org/W3179968364","https://openalex.org/W1999612375","https://openalex.org/W2382997850","https://openalex.org/W2938107654","https://openalex.org/W2390968135","https://openalex.org/W2382213751","https://openalex.org/W2351750670","https://openalex.org/W1597848696","https://openalex.org/W2354715126"],"abstract_inverted_index":{"A":[0],"safe":[1],"and":[2,25,36,55,62,77,95,107,121,133,146,180],"interpretable":[3],"end-to-end":[4,47],"autonomous":[5,48],"driving":[6,49,172],"system":[7],"is":[8],"essential":[9],"for":[10,82],"real-world":[11],"applications.":[12],"However,":[13],"existing":[14],"methods":[15],"struggle":[16],"with":[17],"incomplete":[18],"feature":[19,105],"understanding,":[20],"the":[21,135,152,157,163],"black":[22],"box":[23],"problem,":[24],"poor":[26],"interpretability,":[27],"making":[28],"it":[29],"hard":[30],"to":[31,33,91],"adapt":[32],"complex":[34],"environments":[35],"be":[37],"accepted":[38],"by":[39],"users.":[40],"In":[41],"this":[42],"study,":[43],"we":[44,67,115],"propose":[45],"an":[46],"framework,":[50,129],"PA-TCP,":[51],"which":[52,130],"enhances":[53],"safety":[54],"interpretability":[56],"through":[57,99,124],"a":[58,69,88,125,141,168,174,181],"hybrid":[59],"attention":[60,72,97,128],"mechanism":[61],"efficient":[63],"state":[64],"representation.":[65],"Specifically,":[66],"introduce":[68],"parallel-weighted":[70],"compound":[71],"module":[73,86],"that":[74],"dynamically":[75],"captures":[76],"prioritizes":[78],"critical":[79],"environmental":[80],"features":[81,138],"vehicle":[83,117],"driving.":[84],"This":[85],"leverages":[87],"parallel":[89],"architecture":[90],"simultaneously":[92],"combine":[93],"spatial":[94],"channel":[96],"mechanisms":[98],"learned":[100],"adaptive":[101],"weights,":[102],"enabling":[103],"fine-grained":[104],"selection":[106],"robust":[108],"scene":[109],"understanding":[110],"in":[111,171,177,184],"challenging":[112],"scenarios.":[113],"Next,":[114],"integrate":[116],"dynamics,":[118],"navigation":[119],"commands,":[120],"contextual":[122],"information":[123],"linear-based":[126],"Squeeze-and-Excitation":[127],"systematically":[131],"identifies":[132],"emphasizes":[134],"most":[136],"task-relevant":[137],"while":[139],"achieving":[140],"balance":[142],"between":[143],"representation":[144],"capability":[145],"computational":[147],"overhead.":[148],"Extensive":[149],"experiments":[150],"on":[151],"CARLA":[153],"simulation":[154],"platform":[155],"demonstrate":[156,189],"superiority":[158],"of":[159],"our":[160],"approach":[161],"over":[162],"baseline":[164],"method":[165],"TCP,":[166],"including":[167],"25.08%":[169],"increase":[170,176,183],"score,":[173],"16.2%":[175],"route":[178],"completion,":[179],"6.8%":[182],"infraction":[185],"score.":[186],"We":[187],"also":[188],"its":[190],"effectiveness":[191],"regarding":[192],"generalization":[193],"capabilities.":[194]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}