METHOD AND UNIFIED FRAMEWORK SYSTEM FOR FULL-STACK AUTONOMOUS DRIVING PLANNING

The present application provides a method and a unified framework system for full-stack autonomous driving planning. The method comprises: acquiring an image of a scene and converting the image into an image feature, and converting the image feature into a bird's-eye view feature map; detecting agents from the bird's-eye view feature map through track query vectors, and continuously tracking the agents; segmenting different types of map elements from the bird's-eye view feature map through map query vectors, and continuously updating the map elements; predicting a future trajectory of each agent using an interaction between the agents and the different map elements; predicting, according to the predicted future trajectory of each agent, an occupancy grid map over multi-steps into the future; and decoding an ego-vehicle query vector to generate a planned path of an ego-vehicle, and optimizing the planned path using the predicted future multi-step occupancy grid map.