mlsanityData to 7 Oct 2026

Driving by the Rules: A Benchmark for Integrating Traffic Sign Regulations into Vectorized HD Map

arXiv 2410.23780 ↗First posted 31 Oct 2024cs.CV cs.AIcited by 11

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

Abstract (arXiv)

Ensuring adherence to traffic sign regulations is essential for both human and autonomous vehicle navigation. While current online mapping solutions often prioritize the construction of the geometric and connectivity layers of HD maps, overlooking the construction of the traffic regulation layer within HD maps. Addressing this gap, we introduce MapDR, a novel dataset designed for the extraction of Driving Rules from traffic signs and their association with vectorized, locally perceived HD Maps. MapDR features over 10,000 annotated video clips that capture the intricate correlation between traffic sign regulations and lanes. Built upon this benchmark and the newly defined task of integrating traffic regulations into online HD maps, we provide modular and end-to-end solutions: VLE-MEE and RuleVLM, offering a strong baseline for advancing autonomous driving technology. It fills a critical gap in the integration of traffic sign rules, contributing to the development of reliable autonomous driving systems. Code is available at https://github.com/MIV-XJTU/MapDR.

Key facts. Cited by 11 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 45 of its 64 references that are in the map. First posted on arXiv 31 Oct 2024.

Builds on

45 of 64 references.

References · 45

  1. 2017Attention Is All You Needcited by 59,932
  2. 2018BERT: Pre-training of Deep Bidirectional Transformers for Language Understandingcited by 40,204
  3. 2021Learning Transferable Visual Models From Natural Language Supervisioncited by 33,456
  4. 2020An Image is Worth 16x16 Words: Transformers for Image Recognition at Scalecited by 29,915
  5. 2023GPT-4 Technical Reportcited by 18,132
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  11. 2019nuScenes: A multimodal dataset for autonomous drivingcited by 4,485
  12. 2023Improved Baselines with Visual Instruction Tuningcited by 4,362
33 more
  1. 2022BLIP: Bootstrapping Language-Image Pre-training for Unified Vision-Language Understanding and Generationcited by 4,310
  2. 2021Scaling Up Visual and Vision-Language Representation Learning With Noisy Text Supervisioncited by 3,848
  3. 2015VQA: Visual Question Answeringcited by 2,489
  4. 2019Scalability in Perception for Autonomous Driving: Waymo Open Datasetcited by 2,436
  5. 2020Fourier Features Let Networks Learn High Frequency Functions in Low Dimensional Domainscited by 2,170
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  11. 2020Lift, Splat, Shoot: Encoding Images From Arbitrary Camera Rigs by Implicitly Unprojecting to 3Dcited by 1,040
  12. 2023Argoverse 2: Next Generation Datasets for Self-Driving Perception and Forecastingcited by 701
  13. 2019LayoutLM: Pre-training of Text and Layout for Document Image Understandingcited by 549
  14. 2023DriveLM: Driving with Graph Visual Question Answeringcited by 527
  15. 2022LayoutLMv3: Pre-training for Document AI with Unified Text and Image Maskingcited by 481
  16. 2023DriveGPT4: Interpretable End-to-end Autonomous Driving via Large Language Modelcited by 455
  17. 2021VLMo: Unified Vision-Language Pre-Training with Mixture-of-Modality-Expertscited by 424
  18. 2020LayoutLMv2: Multi-modal Pre-training for Visually-Rich Document Understandingcited by 406
  19. 2024Hallucination of Multimodal Large Language Models: A Surveycited by 380
  20. 2023GPT-Driver: Learning to Drive with GPTcited by 344
  21. 2022MapTR: Structured Modeling and Learning for Online Vectorized HD Map Constructioncited by 311
  22. 2021HDMapNet: An Online HD Map Construction and Evaluation Frameworkcited by 280
  23. 2023NuScenes-QA: A Multi-modal Visual Question Answering Benchmark for Autonomous Driving Scenariocited by 258
  24. 2022VectorMapNet: End-to-end Vectorized HD Map Learningcited by 243
  25. 2023Driving with LLMs: Fusing Object-Level Vector Modality for Explainable Autonomous Drivingcited by 231
  26. 2023What does CLIP know about a red circle? Visual prompt engineering for VLMscited by 215
  27. 2023MapTRv2: An End-to-End Framework for Online Vectorized HD Map Constructioncited by 192
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  33. 2023An Empirical Study of Scaling Law for OCRcited by 7

Built on by

Cited by year (2026 to 7 Oct)

Citing papers per year: 2025: 6; 2026: 5.

11 papers.

  1. 2025FutureSightDrive: Thinking Visually with Spatio-Temporal CoT for Autonomous Drivingcited by 165
  2. 2025SeqGrowGraph: Learning Lane Topology as a Chain of Graph Expansionscited by 10
  3. 2025Persistent Autoregressive Mapping with Traffic Rules for Autonomous Drivingcited by 5
  4. 2025HiLoTs: High-Low Temporal Sensitive Representation Learning for Semi-Supervised LiDAR Segmentation in Autonomous Drivingcited by 3
  5. 2025FASTopoWM: Fast-Slow Lane Segment Topology Reasoning with Latent World Modelscited by 3
  6. 2025AMap: Distilling Future Priors for Ahead-Aware Online HD Map Constructioncited by 2
  7. 2026AtteConDA: Attention-Based Conflict Suppression in Multi-Condition Diffusion Models and Synthetic Data Augmentationcited by 0
  8. 2026UrbanWell: Benchmarking Multimodal Large Language Models for Spatio-Temporal Urban Wellbeing Analyticscited by 0
  9. 2026Reasoning to Regulate: Chain-of-Thought for Traffic Rule Understandingcited by 0
  10. 2026Plug-and-Play Traffic Element Awareness for End-to-End Autonomous Drivingcited by 0
  11. 2026One Perception, All Maneuvers: Directional Traffic Signal Understanding for Maneuver-Level Signal Intent Predictioncited by 0

Similar, not cited

Close in wording, no citation either way

  1. 2025Mapillary Vistas Validation for Fine-Grained Traffic Signs: A Benchmark Revealing Vision-Language Model Limitations
  2. 2026TrafficSignBench: Rule-Centric Closed-Loop Evaluation of Traffic-Sign Compliance in Autonomous Driving
  3. 2025DriveQA: Passing the Driving Knowledge Test
  4. 2026Traffic Sign Recognition in Autonomous Driving: Dataset, Benchmark, and Field Experiment
  5. 2024Online Temporal Fusion for Vectorized Map Construction in Mapless Autonomous Driving
  6. 2026The Road Ahead in Autonomous Driving: The KITScenes Multimodal Dataset
  7. 2023LaneSegNet: Map Learning with Lane Segment Perception for Autonomous Driving
  8. 2025Maps for Autonomous Driving: Full-process Survey and Frontiers