Dong-Hyun Kim

End-to-End Vehicle Lateral Control with Transformer-Based Perception and Intention-Aware View Weighting

Abstract This study presents ViewSelective-CIL, an end-to-end intention aware multi view lateral control framework integrating multi-view semantic perception, Transformer-based attention, and high-level command–conditioned control. RGB images are fused with YOLOPv2-based semantic...