mlsanityData to 7 Oct 2026

End-to-End Deep Learning of Lane Detection and Path Prediction for Real-Time Autonomous Driving

arXiv 2102.04738 ↗First posted 9 Feb 2021cs.CV cs.AI cs.LGcited by 16

On the map: End-to-end autonomous driving → End-to-end system architecture

Abstract (arXiv)

Inspired by the UNet architecture of semantic image segmentation, we propose a lightweight UNet using depthwise separable convolutions (DSUNet) for end-to-end learning of lane detection and path prediction (PP) in autonomous driving. We also design and integrate a PP algorithm with convolutional neural network (CNN) to form a simulation model (CNN-PP) that can be used to assess CNN's performance qualitatively, quantitatively, and dynamically in a host agent car driving along with other agents all in a real-time autonomous manner. DSUNet is 5.16x lighter in model size and 1.61x faster in inference than UNet. DSUNet-PP outperforms UNet-PP in mean average errors of predicted curvature and lateral offset for path planning in dynamic simulation. DSUNet-PP outperforms a modified UNet in lateral error, which is tested in a real car on real road. These results show that DSUNet is efficient and effective for lane detection and path prediction in autonomous driving.

Key facts. Cited by 16 papers in the map (data through 7 Oct 2026). Placed in End-to-end system architecture, one of 9 directions in End-to-end autonomous driving. Builds on 25 of its 49 references that are in the map. First posted on arXiv 9 Feb 2021.

Builds on

25 of 49 references.

References · 25

  1. 2015U-Net: Convolutional Networks for Biomedical Image Segmentationcited by 19,604
  2. 2014Fully Convolutional Networks for Semantic Segmentationcited by 4,845
  3. 2017MobileNets: Efficient Convolutional Neural Networks for Mobile Vision Applicationscited by 3,827
  4. 2016Xception: Deep Learning with Depthwise Separable Convolutionscited by 2,320
  5. 20163D U-Net: Learning Dense Volumetric Segmentation from Sparse Annotationcited by 1,471
  6. 2017ShuffleNet: An Extremely Efficient Convolutional Neural Network for Mobile Devicescited by 1,194
  7. 2016SqueezeNet: AlexNet-level accuracy with 50x fewer parameters and <0.5MB model sizecited by 1,054
  8. 2016End to End Learning for Self-Driving Carscited by 1,000
  9. 2019A Survey of Deep Learning Techniques for Autonomous Drivingcited by 401
  10. 2015DeepDriving: Learning Affordance for Direct Perception in Autonomous Drivingcited by 229
  11. 2013OverFeat: Integrated Recognition, Localization and Detection using Convolutional Networkscited by 224
  12. 2019Learning Lightweight Lane Detection CNNs by Self Attention Distillationcited by 162
13 more
  1. 2019Self-Driving Cars: A Surveycited by 147
  2. 2020Keep your Eyes on the Lane: Real-time Attention-guided Lane Detectioncited by 137
  3. 2018Towards End-to-End Lane Detection: an Instance Segmentation Approachcited by 129
  4. 20183D-LaneNet: End-to-End 3D Multiple Lane Detectioncited by 106
  5. 2017VPGNet: Vanishing Point Guided Network for Lane and Road Marking Detection and Recognitioncited by 56
  6. 2018Fully Dense UNet for 2D Sparse Photoacoustic Tomography Artifact Removalcited by 56
  7. 2019Robust Lane Detection from Continuous Driving Scenes Using Deep Neural Networkscited by 41
  8. 2015An Empirical Evaluation of Deep Learning on Highway Drivingcited by 35
  9. 2016Learning a Driving Simulatorcited by 33
  10. 2019Deep Learning and Control Algorithms of Direct Perception for Autonomous Drivingcited by 10
  11. 2020SUPER: A Novel Lane Detection Systemcited by 10
  12. 2019Connection Sensitive Attention U-NET for Accurate Retinal Vessel Segmentationcited by 6
  13. 2020Advances in centerline estimation for autonomous lateral controlcited by 3

Built on by

Cited by year (2026 to 7 Oct)

Citing papers per year: 2021: 1; 2022: 1; 2023: 3; 2024: 5; 2025: 1; 2026: 5.

16 papers.

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  1. 2024Harnessing Neuron Stability to Improve DNN Verificationcited by 13
  2. 2023Recent Advancements in Deep Learning Applications and Methods for Autonomous Navigation: A Comprehensive Reviewcited by 5
  3. 2023Robust Lane Detection through Self Pre-training with Masked Sequential Autoencoders and Fine-tuning with Customized PolyLosscited by 5
  4. 2024LCD-Net: A Lightweight Remote Sensing Change Detection Network Combining Feature Fusion and Gating Mechanismcited by 5
  5. 2025Advancing Autonomous Vehicle Intelligence: Deep Learning and Multimodal LLM for Traffic Sign Recognition and Robust Lane Detectioncited by 3
  6. 2022Efficient Perception, Planning, and Control Algorithm for Vision-Based Automated Vehiclescited by 2
  7. 2023Contrastive Learning for Lane Detection via cross-similaritycited by 2
  8. 2024ComFe: An Interpretable Head for Vision Transformerscited by 2
  9. 2021Multi-task UNet architecture for end-to-end autonomous drivingcited by 1
  10. 2024LOID: Lane Occlusion Inpainting and Detection for Enhanced Autonomous Driving Systemscited by 0
  11. 2024Uncertainty and Prediction Quality Estimation for Semantic Segmentation via Graph Neural Networkscited by 0
  12. 2026Real-Time Lane Detection via Efficient Feature Alignment and Covariance Optimization for Low-Power Embedded Systemscited by 0
4 more
  1. 2026All-Optical Segmentation via Diffractive Neural Networks for Autonomous Drivingcited by 0
  2. 2026A Study on Real-time Object Detection using Deep Learningcited by 0
  3. 2026Multi-model approach for autonomous driving: A comprehensive study on traffic sign-, vehicle- and lane detection and behavioral cloningcited by 0
  4. 2026Lightweight Spatiotemporal Highway Lane Detection via 3D-ResNet and PINet with ROI-Aware Attentioncited by 0

Similar, not cited

Close in wording, no citation either way

  1. 2026AurigaNet: A Real-Time Multi-Task Network for Enhanced Urban Driving Perception
  2. 2023Recent Advancements in End-to-End Autonomous Driving using Deep Learning: A Survey
  3. 2023End-to-end Autonomous Driving using Deep Learning: A Systematic Review
  4. 2023LaneSegNet: Map Learning with Lane Segment Perception for Autonomous Driving
  5. 2024Developing, Analyzing, and Evaluating Vehicular Lane Keeping Algorithms Under Dynamic Lighting and Weather Conditions Using Electric Vehicles ↗
  6. 2022End-to-end Autonomous Driving with Semantic Depth Cloud Mapping and Multi-agent
  7. 2021On Robustness of Lane Detection Models to Physical-World Adversarial Attacks in Autonomous Driving
  8. 2018Multimodal Trajectory Predictions for Autonomous Driving using Deep Convolutional Networks