Author

Nishad Sahu

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Preprint Sep 2026

WZPlanner: Safe End-to-End Path Planning for Autonomous Driving in Work Zones

This work introduces WAVE (Work-zone-focused AV data generation in Virtual and rEal Environments), a semi-automated pipeline for creating the dataset, and BoundaryFormer (BF), a transformer-based model that jointly predicts lane and work zone boundary polynomials and driving trajectories.

Nishad Sahu, Chang-Zhong Qian, Guang-Zhou Cai et al. · 0 citations