Replication Package for CogDrive:  Cognition-Driven Multimodal Prediction-Planning Fusion for Safe Autonomy 

This replication package provides the complete source code and configuration files used in the study “CogDrive: Cognition-Driven Multimodal Prediction-Planning Fusion for Safe Autonomy.” The package enables full reproduction of the proposed cognition-driven multimodal trajectory prediction and safety-aware planning framework, including model architecture implementation, training procedures, evaluation scripts, and planning modules. The provided code supports both open-loop prediction evaluation and closed-loop planning simulations as reported in the manuscript. All scripts are organized to facilitate reproducibility of the main experimental results on public autonomous driving benchmarks.