@ARTICLE{feng2024multimodalxad,
  author={Yuchao Feng and Zhen Feng and Wei Hua and Yuxiang Sun},
  journal={IEEE Transactions on Intelligent Transportation Systems}, 
  title={Multimodal-XAD: Explainable Autonomous Driving Based on Multimodal Environment Descriptions}, 
  year={2024},
  volume={25},
  number={12},
  pages={19469-19481},
  keywords={Autonomous vehicles;Cameras;Visualization;Semantics;Image sequences;Meters;Transformers;Sun;Laser radar;Decision making;Autonomous driving;decision making;multimodal explanations;BEV perception;explainable AI (XAI)},
  doi={10.1109/TITS.2024.3467175}}