{"id":"https://openalex.org/W4411086592","doi":"https://doi.org/10.1109/tvt.2025.3576204","title":"IP3: Integrated Path-Guided Prediction and Planning for Safe Autonomous Driving","display_name":"IP3: Integrated Path-Guided Prediction and Planning for Safe Autonomous Driving","publication_year":2025,"publication_date":"2025-06-06","ids":{"openalex":"https://openalex.org/W4411086592","doi":"https://doi.org/10.1109/tvt.2025.3576204"},"language":"en","primary_location":{"id":"doi:10.1109/tvt.2025.3576204","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tvt.2025.3576204","pdf_url":null,"source":{"id":"https://openalex.org/S10936095","display_name":"IEEE Transactions on Vehicular Technology","issn_l":"0018-9545","issn":["0018-9545","1939-9359"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Vehicular Technology","raw_type":"journal-article"},"type":"article","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/A5101943805","display_name":"Li Ding","orcid":"https://orcid.org/0000-0002-0304-707X"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210112150","display_name":"Institute of Automation","ror":"https://ror.org/022c3hy66","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210112150"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ding Li","raw_affiliation_strings":["State Key Laboratory of Multimodal Artificial Intelligence Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0002-0304-707X","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Multimodal Artificial Intelligence Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I19820366","https://openalex.org/I4210112150"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5049454999","display_name":"Qichao Zhang","orcid":"https://orcid.org/0000-0001-9747-391X"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210112150","display_name":"Institute of Automation","ror":"https://ror.org/022c3hy66","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210112150"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qichao Zhang","raw_affiliation_strings":["State Key Laboratory of Multimodal Artificial Intelligence Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0001-9747-391X","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Multimodal Artificial Intelligence Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I19820366","https://openalex.org/I4210112150"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5067003176","display_name":"Dongfang Yang","orcid":"https://orcid.org/0000-0001-9212-6804"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Dongfang Yang","raw_affiliation_strings":["Chongqing Changan Automobile Company Ltd., Chongqing, China","Chongqing Changan Automobile Co., Ltd., Chongqing, China"],"raw_orcid":"https://orcid.org/0000-0001-9212-6804","affiliations":[{"raw_affiliation_string":"Chongqing Changan Automobile Company Ltd., Chongqing, China","institution_ids":[]},{"raw_affiliation_string":"Chongqing Changan Automobile Co., Ltd., Chongqing, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100376393","display_name":"Zhi Wang","orcid":"https://orcid.org/0000-0002-4459-6462"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhi Wang","raw_affiliation_strings":["Chongqing Changan Automobile Company Ltd., Chongqing, China","Chongqing Changan Automobile Co., Ltd., Chongqing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Chongqing Changan Automobile Company Ltd., Chongqing, China","institution_ids":[]},{"raw_affiliation_string":"Chongqing Changan Automobile Co., Ltd., Chongqing, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":null,"display_name":"Fan Ren","orcid":"https://orcid.org/0000-0002-5083-4084"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Fan Ren","raw_affiliation_strings":["Chongqing Changan Automobile Company Ltd., Chongqing, China","Chongqing Changan Automobile Co., Ltd., Chongqing, China"],"raw_orcid":"https://orcid.org/0000-0002-5083-4084","affiliations":[{"raw_affiliation_string":"Chongqing Changan Automobile Company Ltd., Chongqing, China","institution_ids":[]},{"raw_affiliation_string":"Chongqing Changan Automobile Co., Ltd., Chongqing, China","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100624298","display_name":"Dongbin Zhao","orcid":"https://orcid.org/0000-0001-8218-9633"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210112150","display_name":"Institute of Automation","ror":"https://ror.org/022c3hy66","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210112150"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Dongbin Zhao","raw_affiliation_strings":["State Key Laboratory of Multimodal Artificial Intelligence Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0001-8218-9633","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Multimodal Artificial Intelligence Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I19820366","https://openalex.org/I4210112150"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.09232317,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"74","issue":"11","first_page":"16729","last_page":"16742"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.996399998664856,"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":0.996399998664856,"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":0.9891999959945679,"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/T10036","display_name":"Advanced Neural Network Applications","score":0.9797000288963318,"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/motion-planning","display_name":"Motion planning","score":0.5761374831199646},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.4449729025363922},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.40860188007354736},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3886449933052063},{"id":"https://openalex.org/keywords/systems-engineering","display_name":"Systems engineering","score":0.3331448435783386},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.19662654399871826},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.16671714186668396},{"id":"https://openalex.org/keywords/computer-network","display_name":"Computer network","score":0.10748228430747986}],"concepts":[{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5761374831199646},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.4449729025363922},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.40860188007354736},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3886449933052063},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.3331448435783386},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.19662654399871826},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.16671714186668396},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.10748228430747986}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tvt.2025.3576204","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tvt.2025.3576204","pdf_url":null,"source":{"id":"https://openalex.org/S10936095","display_name":"IEEE Transactions on Vehicular Technology","issn_l":"0018-9545","issn":["0018-9545","1939-9359"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Vehicular Technology","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.41999998688697815,"display_name":"Climate action","id":"https://metadata.un.org/sdg/13"}],"awards":[{"id":"https://openalex.org/G335550711","display_name":null,"funder_award_id":"4242052","funder_id":"https://openalex.org/F4320322919","funder_display_name":"Natural Science Foundation of Beijing Municipality"},{"id":"https://openalex.org/G6685660108","display_name":null,"funder_award_id":"62173325","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/F4320322919","display_name":"Natural Science Foundation of Beijing Municipality","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":36,"referenced_works":["https://openalex.org/W2343568200","https://openalex.org/W2905173465","https://openalex.org/W3008483776","https://openalex.org/W3013376041","https://openalex.org/W3034722190","https://openalex.org/W3108486966","https://openalex.org/W3110109289","https://openalex.org/W3123730522","https://openalex.org/W3156216502","https://openalex.org/W3159619744","https://openalex.org/W3169575318","https://openalex.org/W3187170253","https://openalex.org/W3196864007","https://openalex.org/W3204875639","https://openalex.org/W3205301818","https://openalex.org/W3214950490","https://openalex.org/W4226440390","https://openalex.org/W4312731878","https://openalex.org/W4312804128","https://openalex.org/W4312809144","https://openalex.org/W4313189526","https://openalex.org/W4375928836","https://openalex.org/W4381198967","https://openalex.org/W4382464354","https://openalex.org/W4383172002","https://openalex.org/W4386076672","https://openalex.org/W4386078146","https://openalex.org/W4387717519","https://openalex.org/W4389665548","https://openalex.org/W4389887754","https://openalex.org/W4390871698","https://openalex.org/W4390874523","https://openalex.org/W4401413740","https://openalex.org/W4401413933","https://openalex.org/W4401687110","https://openalex.org/W4402187256"],"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":{"Autonomous":[0],"vehicles":[1],"(AVs)":[2],"require":[3],"accurately":[4],"predicting":[5],"future":[6],"trajectories":[7],"of":[8,41,56,105,169],"neighboring":[9],"agents":[10,15,43,172],"and":[11,44,79,88,96,120,128,173,190],"identifying":[12],"highly":[13,153,170],"interactive":[14,42,154,161,171],"from":[16,35,152],"them":[17],"to":[18,109,147,165],"make":[19],"safe":[20,97,175],"downstream":[21],"planning.":[22,49,98],"However,":[23],"the":[24,39,53,86,139,200,206],"immense":[25],"uncertainty":[26],"easily":[27],"results":[28],"in":[29,187],"temporal":[30,54,93,132,178],"incoherence":[31],"between":[32,118],"trajectory":[33,57,121,134],"predictions":[34,58],"adjacent":[36],"frames,":[37],"misleading":[38],"selection":[40,163],"posing":[45],"safety":[46],"risks":[47],"for":[48,92,114],"We":[50],"find":[51],"that":[52],"coherence":[55,94,133,179],"can":[59],"be":[60],"improved":[61],"by":[62,142,211],"predetermined,":[63],"map-adaptive":[64],"paths.":[65],"This":[66],"paper":[67],"proposes":[68],"an":[69],"<underline":[70,73,76,80],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[71,74,77,81,214,223],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">I</u>ntegrated":[72],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">P</u>ath-guided":[75],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">P</u>rediction":[78],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">P</u>lanning":[82],"(IP3)":[83],"framework":[84],"under":[85],"pre-train":[87,110],"fine-tune":[89,138],"learning":[90],"paradigm":[91],"prediction":[95],"First,":[99],"we":[100,137,157],"adopt":[101],"a":[102,111,143,159],"new":[103],"concept":[104],"path-trajectory":[106],"query":[107],"pairs":[108],"dual-query":[112],"Transformer":[113],"performing":[115],"modality":[116],"alignment":[117],"path":[119],"predictions,":[122],"estimating":[123],"accurate":[124,167],"distributions":[125],"over":[126],"them,":[127],"further":[129],"achieving":[130],"better":[131],"prediction.":[135,180],"Second,":[136],"planning":[140,176,192],"policy":[141],"collision-aware":[144],"imitation":[145],"loss":[146],"prevent":[148],"potential":[149],"collision":[150,209],"threats":[151],"agents.":[155],"Besides,":[156],"incorporate":[158],"path-guided":[160],"agent":[162],"strategy":[164],"enable":[166],"identification":[168],"boost":[174],"with":[177],"Experiments":[181],"validate":[182],"IP3":[183,195],"outperforms":[184],"previous":[185],"state-of-the-arts":[186],"both":[188],"open-loop":[189],"closed-loop":[191],"tests.":[193],"Especially,":[194],"surpasses":[196],"strong":[197],"baselines":[198],"on":[199],"challenging":[201],"Waymax":[202],"benchmark,":[203],"greatly":[204],"decreasing":[205],"safety-critical":[207],"metric":[208],"rate":[210],"68.40":[212],"<inline-formula":[213],"xmlns:xlink=\"http://www.w3.org/1999/xlink\"><tex-math":[215],"notation=\"LaTeX\">$\\%$</tex-math></inline-formula>.":[216],"The":[217],"code":[218],"is":[219],"available":[220],"at":[221],"<uri":[222],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">https://github.com/ld-av/IP3/</uri>.":[224]},"counts_by_year":[],"updated_date":"2026-07-22T07:51:19.307946","created_date":"2025-10-10T00:00:00"}
