@article{you2024perception,
  title={Perception Helps Planning: Facilitating Multi-Stage Lane-Level Integration via Double-Edge Structures},
  author={You, Guoliang and Chu, Xiaomeng and Duan, Yifan and Zhang, Wenyu and Li, Xingchen and Zhang, Sha and Li, Yao and Ji, Jianmin and Zhang, Yanyong},
  journal={arXiv preprint arXiv:2407.11644},
  year={2024}
}