Bin Zhang^*, Zhancheng Xu

CMC-Computers, Materials & Continua, Vol.86, No.2, pp. 1-12, 2026, DOI:10.32604/cmc.2025.069979 - 09 December 2025

Abstract This study aimed to enhance the performance of semantic segmentation for autonomous driving by improving the 2DPASS model. Two novel improvements were proposed and implemented in this paper: dynamically adjusting the loss function ratio and integrating an attention mechanism (CBAM). First, the loss function weights were adjusted dynamically. The grid search method is used for deciding the best ratio of 7:3. It gives greater emphasis to the cross-entropy loss, which resulted in better segmentation performance. Second, CBAM was applied at different layers of the 2D encoder. Heatmap analysis revealed that introducing it after the second… More >

Jianhua Yang^*, Zhiwei Lv, Changling Huo

CMC-Computers, Materials & Continua, Vol.86, No.1, pp. 1-18, 2026, DOI:10.32604/cmc.2025.068442 - 10 November 2025

Abstract Aiming at the scale adaptation of automatic driving target detection algorithms in low illumination environments and the shortcomings in target occlusion processing, this paper proposes a YOLO-LKSDS automatic driving detection model. Firstly, the Contrast-Limited Adaptive Histogram Equalisation (CLAHE) image enhancement algorithm is improved to increase the image contrast and enhance the detailed features of the target; then, on the basis of the YOLOv5 model, the Kmeans++ clustering algorithm is introduced to obtain a suitable anchor frame, and SPPELAN spatial pyramid pooling is improved to enhance the accuracy and robustness of the model for multi-scale target… More >

Lang Ding, Qinmu Wu^*, Jiaheng Li, Tao Hong, Linqing Bian

CMC-Computers, Materials & Continua, Vol.85, No.1, pp. 1999-2020, 2025, DOI:10.32604/cmc.2025.066423 - 29 August 2025

Abstract Trajectory prediction is a critical task in autonomous driving systems. It enables vehicles to anticipate the future movements of surrounding traffic participants, which facilitates safe and human-like decision-making in the planning and control layers. However, most existing approaches rely on end-to-end deep learning architectures that overlook the influence of driving style on trajectory prediction. These methods often lack explicit modeling of semantic driving behavior and effective interaction mechanisms, leading to potentially unrealistic predictions. To address these limitations, we propose the Driving Style Guided Trajectory Prediction framework (DSG-TP), which incorporates a probabilistic representation of driving style… More >

Duo Cui^*, Qiusheng Wang

CMC-Computers, Materials & Continua, Vol.84, No.1, pp. 417-431, 2025, DOI:10.32604/cmc.2025.063507 - 09 June 2025

Abstract In the field of autonomous driving, the task of reliably and accurately detecting lane markings poses a significant and complex challenge. This study presents a lane recognition model that employs an encoder-decoder architecture. In the encoder section, we develop a feature extraction framework that operates concurrently with attention mechanisms and convolutional layers. We propose a spatial axis attention framework that integrates spatial information transfer regulated by gating units. This architecture places a strong emphasis on long-range dependencies and the spatial distribution of images. Furthermore, we incorporate multi-scale convolutional layers to extract intricate features from the More >

Yang Su^1,*, Xianrang Shi¹, Tinglun Song²

CMC-Computers, Materials & Continua, Vol.83, No.3, pp. 5831-5848, 2025, DOI:10.32604/cmc.2025.064036 - 19 May 2025

Abstract Ensuring that autonomous vehicles maintain high precision and rapid response capabilities in complex and dynamic driving environments is a critical challenge in the field of autonomous driving. This study aims to enhance the learning efficiency of multi-sensor feature fusion in autonomous driving tasks, thereby improving the safety and responsiveness of the system. To achieve this goal, we propose an innovative multi-sensor feature fusion model that integrates three distinct modalities: visual, radar, and lidar data. The model optimizes the feature fusion process through the introduction of two novel mechanisms: Sparse Channel Pooling (SCP) and Residual Triplet-Attention… More >

Peicheng Shi^1,*, Li Yang¹, Xinlong Dong¹, Heng Qi², Aixi Yang³

CMC-Computers, Materials & Continua, Vol.83, No.3, pp. 3877-3917, 2025, DOI:10.32604/cmc.2025.063205 - 19 May 2025

Abstract As the number and complexity of sensors in autonomous vehicles continue to rise, multimodal fusion-based object detection algorithms are increasingly being used to detect 3D environmental information, significantly advancing the development of perception technology in autonomous driving. To further promote the development of fusion algorithms and improve detection performance, this paper discusses the advantages and recent advancements of multimodal fusion-based object detection algorithms. Starting from single-modal sensor detection, the paper provides a detailed overview of typical sensors used in autonomous driving and introduces object detection methods based on images and point clouds. For image-based detection… More >

Xinxin Liu, Bin Ye^*

Computer Systems Science and Engineering, Vol.49, pp. 287-300, 2025, DOI:10.32604/csse.2025.061655 - 20 February 2025

Abstract In the broader field of mechanical technology, and particularly in the context of self-driving vehicles, cameras and Light Detection and Ranging (LiDAR) sensors provide complementary modalities that hold significant potential for sensor fusion. However, directly merging multi-sensor data through point projection often results in information loss due to quantization, and managing the differing data formats from multiple sensors remains a persistent challenge. To address these issues, we propose a new fusion method that leverages continuous convolution, point-pooling, and a learned Multilayer Perceptron (MLP) to achieve superior detection performance. Our approach integrates the segmentation mask with… More >

Weiyu Hao¹, Jingyi Wang², Huimin Lu^3,*

CMC-Computers, Materials & Continua, Vol.81, No.3, pp. 4419-4433, 2024, DOI:10.32604/cmc.2024.055478 - 19 December 2024

Abstract While traditional Convolutional Neural Network (CNN)-based semantic segmentation methods have proven effective, they often encounter significant computational challenges due to the requirement for dense pixel-level predictions, which complicates real-time implementation. To address this, we introduce an advanced real-time semantic segmentation strategy specifically designed for autonomous driving, utilizing the capabilities of Visual Transformers. By leveraging the self-attention mechanism inherent in Visual Transformers, our method enhances global contextual awareness, refining the representation of each pixel in relation to the overall scene. This enhancement is critical for quickly and accurately interpreting the complex elements within driving scenarios—a fundamental… More >

Shih-Lin Lin^*, Bo-Chen Lin

CMC-Computers, Materials & Continua, Vol.80, No.3, pp. 3555-3572, 2024, DOI:10.32604/cmc.2024.055456 - 12 September 2024

Abstract This paper explores the application of Model Predictive Control (MPC) to enhance safety and efficiency in autonomous vehicle (AV) navigation through optimized path planning. The evolution of AV technology has progressed rapidly, moving from basic driver-assistance systems (Level 1) to fully autonomous capabilities (Level 5). Central to this advancement are two key functionalities: Lane-Change Maneuvers (LCM) and Adaptive Cruise Control (ACC). In this study, a detailed simulation environment is created to replicate the road network between Nantun and Wuri on National Freeway No. 1 in Taiwan. The MPC controller is deployed to optimize vehicle trajectories,… More >

Yunxiang Liu, Haili Ma, Jianlin Zhu^*, Qiangbo Zhang

CMC-Computers, Materials & Continua, Vol.80, No.2, pp. 2963-2978, 2024, DOI:10.32604/cmc.2024.053710 - 15 August 2024

Abstract To enhance the efficiency and accuracy of environmental perception for autonomous vehicles, we propose GDMNet, a unified multi-task perception network for autonomous driving, capable of performing drivable area segmentation, lane detection, and traffic object detection. Firstly, in the encoding stage, features are extracted, and Generalized Efficient Layer Aggregation Network (GELAN) is utilized to enhance feature extraction and gradient flow. Secondly, in the decoding stage, specialized detection heads are designed; the drivable area segmentation head employs DySample to expand feature maps, the lane detection head merges early-stage features and processes the output through the Focal Modulation More >