@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}}