Würsching, Gerald (Technical University of Munich), Mascetta, Tobias Falco Wolfgang (Technical University Munich), Breen, Sammy (Technical University Munich), Althoff, Matthias (Technische Universität München)

Transformer-Based Assessment of Driving Corridors for Motion Planning of Automated Vehicles

Scheduled for presentation during the Regular Session "S11b-Motion Planning, Trajectory Optimization, and Control for Autonomous Vehicles" (WE-EA-T11), Wednesday, November 19, 2025, 13:30−13:50, Broadbeach 1&2

2025 IEEE 28th International Conference on Intelligent Transportation Systems (ITSC), November 18-21, 2025, Gold Coast, Australia

This information is tentative and subject to change. Compiled on October 19, 2025

Abstract

Determining suitable driving corridors in arbitrary traffic scenarios is a key challenge for motion planning of automated vehicles. Driving corridors can be efficiently computed via reachability analysis and serve as solution spaces for motion planning. However, selecting a suitable driving corridor for trajectory planning is an open research question. To address this research gap, we introduce a novel, transformer-based architecture which is capable of assessing multiple set-based driving corridors in terms of 1) their drivability and 2) expected costs of the to-be-computed trajectory within them. Besides these assessments, an initial trajectory is provided as well. Our numerical experiments on CommonRoad scenarios demonstrate that our approach outperforms an established heuristic.