The perception systems of autonomous vehicles face significant challenges under adverse conditions, with issues such as obscured objects and false detections due to environmental noise. Traditional approaches, which typically focus on noise removal, often fall short in such scenarios. Addressing the lack of diverse adverse weather data in existing automotive datasets, we propose a novel data augmentation method that integrates realistically simulated adverse weather effects into clear condition datasets. This method not only addresses the scarcity of data but also effectively bridges domain gaps between different driving environments. Our approach centers on a conditional generative model that uses segmentation maps as a guiding mechanism to ensure the authentic generation of adverse effects, which greatly enhances the robustness of perception and object detection systems in autonomous vehicles, operating under varied and challenging conditions. Besides the capability of accurately and naturally recreating over 90% of the adverse effects, we demonstrate that this model significantly improves the performance and accuracy of deep learning algorithms for autonomous driving, particularly in adverse weather scenarios. In the experiments employing our augmented approach, we achieved a 2.46% raise in the 3D average precision, a marked enhancement in detection accuracy and system reliability, substantiating the model’s efficacy with quantifiable improvements in 3D object detection compared to models without augmentation. This work not only serves as an enhancement of autonomous vehicle perception systems under adverse conditions but also marked an advancement in deep learning models in adverse condition research.

Transformer-based models have gained popularity in the field of natural language processing (NLP) and are extensively utilized in computer vision tasks and multi-modal models such as GPT4. This paper presents a novel method to enhance the explainability of transformer-based image classification models. Our method aims to improve trust in classification results and empower users to gain a deeper understanding of the model for downstream tasks by providing visualizations of class-specific maps. We introduce two modules: the “Relationship Weighted Out” and the “Cut” modules. The “Relationship Weighted Out” module focuses on extracting class-specific information from intermediate layers, enabling us to highlight relevant features. Additionally, the “Cut” module performs fine-grained feature decomposition, taking into account factors such as position, texture, and color. By integrating these modules, we generate dense class-specific visual explainability maps. We validate our method with extensive qualitative and quantitative experiments on the ImageNet dataset. Furthermore, we conduct a large number of experiments on the LRN dataset, which is specifically designed for automatic driving danger alerts, to evaluate the explainability of our method in scenarios with complex backgrounds. The results demonstrate a significant improvement over previous methods. Moreover, we conduct ablation experiments to validate the effectiveness of each module. Through these experiments, we are able to confirm the respective contributions of each module, thus solidifying the overall effectiveness of our proposed approach.

The accurate prediction of vehicle behavior is crucial for autonomous driving systems, impacting their safety and efficiency in complex urban environments. To address the challenge of multi-agent trajectory prediction, we propose a novel model integrating multiple input modalities, including historical trajectories, map data, vehicle features, and interaction information. Our approach employs a Conditional Variational Autoencoder (CVAE) framework with a decoder that predicts control actions using the Gaussian Mixture Model (GMM) and then converts these actions into dynamically feasible trajectories through a bicycle model. Evaluated on the nuScenes dataset, the model achieves great performance across key metrics, including minADE₅ of 1.26 and minFDE₅ of 2.85, demonstrating robust performance across various vehicle types and prediction horizons. These results indicate that integrating multiple data sources, physical models, and probabilistic methods significantly improves trajectory prediction accuracy and reliability for autonomous driving. Our approach generates diverse yet realistic predictions, capturing the multimodal nature of future outcomes while adhering to Physical Constraints and vehicle dynamics.

Autonomous driving in complex real-world environments requires robust perception, reasoning, and physically feasible planning, which remain challenging for current end-to-end approaches. This paper introduces VLA-MP, a unified vision-language-action framework that integrates multimodal Bird’s-Eye View (BEV) perception, vision-language alignment, and a GRU-bicycle dynamics cascade adapter for physics-informed action generation. The system constructs structured environmental representations from RGB images and LiDAR, aligns scene features with natural language instructions through a cross-modal projector and large language model, and converts high-level semantic hidden states outputs into executable and physically consistent trajectories. Experiments on the LMDrive dataset and CARLA simulator demonstrate that VLA-MP achieves high performance across the LangAuto benchmark series, with best driving scores of 44.3, 63.5, and 78.4 on LangAuto, LangAuto-Short, and LangAuto-Tiny, respectively, while maintaining high infraction scores of 0.89–0.95, outperforming recent VLA methods such as LMDrive and AD-H. Visualization and video results further validate the framework’s ability to follow complex language-conditioned instructions, adapt to dynamic environments, and prioritize safety. These findings highlight the potential of combining multimodal perception, language reasoning, and physics-aware adapters for robust and interpretable autonomous driving.