RCT-AD: Reliability-Aware Context and Temporal BEV Reasoning for End-to-End Autonomous Driving

원문 초록

Reliable temporal representation learning is important for end-to-end autonomous driving, particularly when visual observations are degraded by occlusion, motion blur, illumination variation, and sensor noise. Existing Bird's-Eye-View (BEV) approaches provide a unified representation for perception and planning; however, temporal features are commonly aggregated across frames without explicitly accounting for the reliability of individual observations. Consequently, low-quality or inconsistent features may propagate through temporal representations and degrade downstream perception, prediction, and planning. To address this problem, we propose RCT-AD, a Reliability-Aware Context and Temporal BEV Reasoning framework for end-to-end autonomous driving that explicitly models feature reliability and temporal consistency within a shared BEV representation. RCT-AD introduces a Reliable Context Awareness (RCA) module that estimates frame-level reliability using spatial, semantic, temporal, and visual-quality cues, and selectively preserves trustworthy information through a reliability-guided temporal memory mechanism. When the current observation is unreliable, historical high-reliability features are aligned and integrated to construct a more stable temporal BEV representation. A Temporal Trajectory Planner models long-term temporal dependencies and multi-agent interactions, while semantic segmentation and motion-guided detection provide complementary supervision for refining the shared BEV representation. Experiments on the nuScenes benchmark demonstrate consistent improvements across perception, motion prediction, and trajectory planning. RCT-AD achieves 61.5 NDS, 52.9 mAP, and 52.3 mIoU while maintaining competitive computational efficiency. These results demonstrate the effectiveness of reliability-aware temporal BEV reasoning for unified perception, prediction, and planning.