mlsanityData to 7 Oct 2026

Towards Collaborative Autonomous Driving: Simulation Platform and End-to-End System

arXiv 2404.09496 ↗First posted 15 Apr 2024cs.CVcited by 20

On the map: End-to-end autonomous driving → Cooperative and V2X driving

Abstract (arXiv)

Vehicle-to-everything-aided autonomous driving (V2X-AD) has a huge potential to provide a safer driving solution. Despite extensive researches in transportation and communication to support V2X-AD, the actual utilization of these infrastructures and communication resources in enhancing driving performances remains largely unexplored. This highlights the necessity of collaborative autonomous driving: a machine learning approach that optimizes the information sharing strategy to improve the driving performance of each vehicle. This effort necessitates two key foundations: a platform capable of generating data to facilitate the training and testing of V2X-AD, and a comprehensive system that integrates full driving-related functionalities with mechanisms for information sharing. From the platform perspective, we present V2Xverse, a comprehensive simulation platform for collaborative autonomous driving. This platform provides a complete pipeline for collaborative driving. From the system perspective, we introduce CoDriving, a novel end-to-end collaborative driving system that properly integrates V2X communication over the entire autonomous pipeline, promoting driving with shared perceptual information. The core idea is a novel driving-oriented communication strategy. Leveraging this strategy, CoDriving improves driving performance while optimizing communication efficiency. We make comprehensive benchmarks with V2Xverse, analyzing both modular performance and closed-loop driving performance. Experimental results show that CoDriving: i) significantly improves the driving score by 62.49% and drastically reduces the pedestrian collision rate by 53.50% compared to the SOTA end-to-end driving method, and ii) achieves sustaining driving performance superiority over dynamic constraint communication conditions.

Key facts. Cited by 20 papers in the map (data through 7 Oct 2026). Placed in Cooperative and V2X driving, one of 9 directions in End-to-end autonomous driving. Builds on 50 of its 74 references that are in the map. First posted on arXiv 15 Apr 2024.

Builds on

50 of 74 references.

Closest ancestors · 1

Same direction, newest first

  1. 2022COOPERNAUT: End-to-End Driving with Cooperative Perception for Networked Vehicles4 May

Other references · 49

  1. 2017Attention Is All You Needcited by 59,932
  2. 2019nuScenes: A multimodal dataset for autonomous drivingcited by 4,485
  3. 2017CARLA: An Open Urban Driving Simulatorcited by 2,431
  4. 2018PointPillars: Fast Encoders for Object Detection from Point Cloudscited by 1,707
  5. 2019Objects as Pointscited by 1,172
  6. 2022Planning-oriented Autonomous Drivingcited by 1,068
  7. 2020Lift, Splat, Shoot: Encoding Images From Arbitrary Camera Rigs by Implicitly Unprojecting to 3Dcited by 1,040
  8. 2017End-to-end Driving via Conditional Imitation Learningcited by 479
  9. 2022TransFuser: Imitation with Transformer-Based Sensor Fusion for Autonomous Drivingcited by 477
  10. 2021Multi-Modal Fusion Transformer for End-to-End Autonomous Drivingcited by 372
  11. 2019Learning by Cheatingcited by 361
  12. 2019Exploring the Limitations of Behavior Cloning for Autonomous Drivingcited by 343
37 more
  1. 2021Categorical Depth Distribution Network for Monocular 3D Object Detectioncited by 326
  2. 2022V2X-ViT: Vehicle-to-Everything Cooperative Perception with Vision Transformercited by 320
  3. 2021OPV2V: An Open Benchmark Dataset and Fusion Pipeline for Perception with Vehicle-to-Vehicle Communicationcited by 304
  4. 2020V2VNet: Vehicle-to-Vehicle Communication for Joint Perception and Predictioncited by 292
  5. 2022DAIR-V2X: A Large-Scale Dataset for Vehicle-Infrastructure Cooperative 3D Object Detectioncited by 270
  6. 2022Where2comm: Communication-Efficient Collaborative Perception via Spatial Confidence Mapscited by 255
  7. 2022Trajectory-guided Control Prediction for End-to-end Autonomous Driving: A Simple yet Strong Baselinecited by 247
  8. 2022CoBEVT: Cooperative Bird's Eye View Semantic Segmentation with Sparse Transformerscited by 227
  9. 2021MP3: A Unified Model to Map, Perceive, Predict and Plancited by 211
  10. 2022Safety-Enhanced Autonomous Driving Using Interpretable Sensor Fusion Transformercited by 211
  11. 2021Learning Distilled Collaboration Graph for Multi-Agent Perceptioncited by 194
  12. 2021End-to-End Urban Driving by Imitating a Reinforcement Learning Coachcited by 191
  13. 2021NEAT: Neural Attention Fields for End-to-End Autonomous Drivingcited by 174
  14. 2019F-Cooper: Feature based Cooperative Perception for Autonomous Vehicle Edge Computing System Using 3D Point Cloudscited by 171
  15. 2020When2com: Multi-Agent Perception via Communication Graph Groupingcited by 157
  16. 2022V2X-Sim: Multi-Agent Collaborative Perception Dataset and Benchmark for Autonomous Drivingcited by 157
  17. 2023V2V4Real: A Real-world Large-scale Dataset for Vehicle-to-Vehicle Cooperative Perceptioncited by 155
  18. 2019End-to-End Model-Free Reinforcement Learning for Urban Driving using Implicit Affordancescited by 147
  19. 2023DriveAdapter: Breaking the Coupling Barrier of Perception and Planning in End-to-End Autonomous Drivingcited by 142
  20. 2022Learning from All Vehiclescited by 135
  21. 2022Robust Collaborative 3D Object Detection in Presence of Pose Errorscited by 129
  22. 2020Who2com: Collaborative Perception via Learnable Handshake Communicationcited by 127
  23. 2021Learning to drive from a world on railscited by 114
  24. 2023V2X-Seq: A Large-Scale Sequential Dataset for Vehicle-Infrastructure Cooperative Perception and Forecastingcited by 114
  25. 2020MotionNet: Joint Perception and Motion Prediction for Autonomous Driving Based on Bird's Eye View Mapscited by 100
  26. 2023ReasonNet: End-to-End Driving with Temporal and Global Reasoningcited by 92
  27. 2024An Extensible Framework for Open Heterogeneous Collaborative Perceptioncited by 87
  28. 2022Latency-Aware Collaborative Perceptioncited by 86
  29. 2023Collaboration Helps Camera Overtake LiDAR in 3D Detectioncited by 81
  30. 2023DeepAccident: A Motion and Accident Prediction Benchmark for V2X Autonomous Drivingcited by 73
  31. 2023HM-ViT: Hetero-modal Vehicle-to-Vehicle Cooperative perception with vision transformercited by 70
  32. 2024TUMTraf V2X Cooperative Perception Datasetcited by 66
  33. 2018On Offline Evaluation of Vision-based Driving Modelscited by 62
  34. 2021GRI: General Reinforced Imitation and its Application to Vision-Based Autonomous Drivingcited by 59
  35. 2023Asynchrony-Robust Collaborative Perception via Bird's Eye View Flowcited by 58
  36. 2020Collaborative Motion Prediction via Neural Motion Message Passingcited by 55
  37. 2024Pragmatic Communication in Multi-Agent Collaborative Perceptioncited by 10

Built on by

Cited by year (2026 to 7 Oct)

Citing papers per year: 2024: 1; 2025: 8; 2026: 11.

20 papers.

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  1. 2025LangCoop: Collaborative Driving with Languagecited by 25
  2. 2025CoLMDriver: LLM-based Negotiation Benefits Cooperative Autonomous Drivingcited by 13
  3. 2025Unraveling the Effects of Synthetic Data on End-to-End Autonomous Drivingcited by 12
  4. 2025CRUISE: Cooperative Reconstruction and Editing in V2X Scenarios using Gaussian Splattingcited by 11
  5. 2026MDrive: Benchmarking Closed-Loop Cooperative Driving for End-to-End Multi-agent Systemscited by 4
  6. 2025MIC-BEV: Multi-Infrastructure Camera Bird's-Eye-View Transformer with Relation-Aware Fusion for 3D Object Detectioncited by 3
  7. 2025SafeCoop: Unravelling Full Stack Safety in Agentic Collaborative Drivingcited by 2
  8. 2026Hyper-V2X: Hypernetworks for Estimating Epistemic and Aleatoric Uncertainty in Cooperative Bird's-Eye-View Semantic Segmentationcited by 1
  9. 2026V2VCrafter: Consistent Street-View Image Generation Across Vehiclescited by 1
  10. 2026Defer to Plan: Adaptive Multi-Agent Fusion for End-to-End V2X Drivingcited by 1
  11. 2026CMU-Drive and V2V-VLA: Cooperative Multi-agent Unified Driving with Reasoning Benchmark and Vehicle-to-Vehicle Vision-Language-Action Modelscited by 1
  12. 2026InfraOcc: An Infrastructure Occupancy Benchmark with Static-to-Dynamic Reasoningcited by 1
8 more
  1. 2026Dense Coverage, Sparse Refinement: Byte-Constrained Cooperative Perceptioncited by 1
  2. 2024OpenConvoy: Universal Platform for Real-World Testing of Cooperative Driving Systemscited by 0
  3. 2025RoCo-Sim: Enhancing Roadside Collaborative Perception through Foreground Simulationcited by 0
  4. 2025When Autonomous Vehicle Meets V2X Cooperative Perception: How Far Are We?cited by 0
  5. 2026When the City Teaches the Car: Label-Free 3D Perception from Infrastructurecited by 0
  6. 2026CooperDrive: Enhancing Driving Decisions Through Cooperative Perceptioncited by 0
  7. 2026CADET: A Modular Platform for Evaluating Distributed Cooperative Autonomy in Connected Autonomous Vehiclescited by 0
  8. 2026CoLMIN: LLM-based Multi-Decision Path Negotiation for Cooperative Autonomous Drivingcited by 0

Similar, not cited

Close in wording, no citation either way

  1. 2025Research Challenges and Progress in the End-to-End V2X Cooperative Autonomous Driving Competition
  2. 2024End-to-End Autonomous Driving through V2X Cooperation
  3. 2024Unified End-to-End V2X Cooperative Autonomous Driving
  4. 2024V2X-VLM: End-to-End V2X Cooperative Autonomous Driving Through Large Vision-Language Models
  5. 2026A Survey on End-to-End Autonomous Driving Training from the Perspectives of Data, Strategy, and Platform
  6. 2025V2V-GoT: Vehicle-to-Vehicle Cooperative Autonomous Driving with Multimodal Large Language Models and Graph-of-Thoughts
  7. 2023V2X-Lead: LiDAR-based End-to-End Autonomous Driving with Vehicle-to-Everything Communication Integration
  8. 2025Collaborative Perception Datasets for Autonomous Driving: A Review