@article{perceptionhelpsplanningfacilitatingmulti,
  title = {Perception Helps Planning: Facilitating Multi-Stage Lane-Level Integration via Double-Edge Structures},
  author = {Guoliang You and Xiaomeng Chu and Yifan Duan and Wenyu Zhang and Xingchen Li and Sha Zhang and Yao Li and Jianmin Ji and Yanyong Zhang},
  year = {2024},
  eprint = {2407.11644},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2407.11644v2},
}