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[Submitted on 16 Sep 2026] Title:WZPlanner: Safe End-to-End Path Planning for Autonomous Driving in Work Zones View a PDF of the paper titled WZPlanner: Safe End-to-End Path Planning for Autonomous Driving in Work Zones, by Nishad Sahu and 4 other authors View PDF HTML (experimental) Abstract:Work zones alter lane geometry through temporary traffic controls and closures that may be absent from on-board maps, challenging autonomous vehicle (AV) perception and planning. Generalization is also limited by scarce public datasets with structured geometric supervision. We present WorkZonePlan, a dataset comprising 149K+ synthetic and 5K+ real-world multimodal samples with 3D annotations for lane boundaries, work zone boundaries, and driving trajectory options. It also provides 76 closed-loop CARLA scenarios replayed under three weather conditions, yielding 228 Bench2Drive-format evaluation routes. We introduce 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. BF uses slot attention for boundary prediction. Ablations show that a separate trajectory decoder using boundary slot features substantially improves trajectory prediction over a slot-attention-only approach. Building on this finding, BF++ offers Camera and Camera+LiDAR variants with metric ground-plane encoding, typed boundary/trajectory queries, long-range point anchors, image-space curve refinement, and conservative gated LiDAR fusion. On the 211 routes common to all four models at the evaluation freeze, BF++-Camera and BF++-Camera+LiDAR achieve Driving Scores of 63.0 and 64.4, respectively, compared with 59.3 for SimLingo and 26.1 for TransFuser++ (TF++). BF++ is 40 times smaller than SimLingo and more than 10 times smaller than TF++, while achieving higher Driving Scores. These results support jointly predicting lane boundaries, work zone boundaries, and driving trajectories as a promising direction toward safer AV operation in work zones. Code and dataset: this https URL. Subjects: Computer Vision and Pattern Recognition (cs.CV) Cite as: arXiv:2609.19393 [cs.CV] (or arXiv:2609.19393v1 [cs.CV] for this version) https://doi.org/10.48550/arXiv.2609.19393 arXiv-issued DOI via DataCite (pending registration) Submission history From: Nishad Sahu [view email] [v1] Wed, 16 Sep 2026 20:22:51 UTC (5,562 KB) Full-text links: Access Paper: View a PDF of the paper titled WZPlanner: Safe End-to-End Path Planning for Autonomous Driving in Work Zones, by Nishad Sahu and 4 other authors View PDF HTML (experimental) TeX Source view license Current browse context: cs.CV new | recent | 2026-09 Change to browse by: cs References & Citations NASA ADS Google Scholar Semantic Scholar Loading... Data provided by: Bibliographic Tools Bibliographic and Citation Tools Bibliographic Explorer Toggle Bibliographic Explorer (What is the Explorer?) Connected Papers Toggle Connected Papers (What is Connected Papers?) Litmaps Toggle Litmaps (What is Litmaps?) scite.ai Toggle scite Smart Citations (What are Smart Citations?) Code, Data, Media Code, Data and Media Associated with this Article alphaXiv Toggle alphaXiv (What is alphaXiv?) Links to Code Toggle CatalyzeX Code Finder for Papers (What is CatalyzeX?) DagsHub Toggle DagsHub (What is DagsHub?) GotitPub Toggle Gotit.pub (What is GotitPub?) Huggingface Toggle Hugging Face (What is Huggingface?) ScienceCast Toggle ScienceCast (What is ScienceCast?) Demos Demos Replicate Toggle Replicate (What is Replicate?) Spaces Toggle Hugging Face Spaces (What is Spaces?) Spaces Toggle TXYZ.AI (What is TXYZ.AI?) Related Papers Recommenders and Search Tools Link to Influence Flower Influence Flower (What are Influence Flowers?) Core recommender toggle CORE Recommender (What is CORE?) Author Venue Institution Topic About arXivLabs arXivLabs: experimental projects with community collaborators arXivLabs is a framework that allows collaborators to develop and share new arXiv features directly on our website. Both individuals and organizations that work with arXivLabs have embraced and accepted our values of openness, community, excellence, and user data privacy. arXiv is committed to these values and only works with partners that adhere to them. Have an idea for a project that will add value for arXiv's community? Learn more about arXivLabs. Which authors of this paper are endorsers? | Disable MathJax (What is MathJax?)