SafeDrive: Knowledge- and Data-Driven Risk-Sensitive Decision-Making for Autonomous Vehicles with Large Language Models

Zhiyuan Zhou; Heye Huang; Boqi Li; Shiyue Zhao; Yao Mu; Jianqiang Wang

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arXiv · 2412.13238

SafeDrive: Knowledge- and Data-Driven Risk-Sensitive Decision-Making for Autonomous Vehicles with Large Language Models

Zhiyuan Zhou·Heye Huang·Boqi Li·Shiyue Zhao·Yao Mu·Jianqiang Wang

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Abstract

Recent advancements in autonomous vehicles (AVs) use Large Language Models (LLMs) to perform well in normal driving scenarios. However, ensuring safety in dynamic, high-risk environments and managing safety-critical long-tail events remain significant challenges. To address these issues, we propose SafeDrive, a knowledge- and data-driven risk-sensitive decision-making framework to enhance AV safety and adaptability. The proposed framework introduces a modular system comprising: (1) a Risk Module for quantifying multi-factor coupled risks involving driver, vehicle, and road interactions; (2) a Memory Module for storing and retrieving typical scenarios to improve adaptability; (3) a LLM-powered Reasoning Module for context-aware safety decision-making; and (4) a Reflection Module for refining decisions through iterative learning. By integrating knowledge-driven insights with adaptive learning mechanisms, the framework ensures robust decision-making under uncertain conditions. Extensive evaluations on real-world traffic datasets, including highways (HighD), intersections (InD), and roundabouts (RounD), validate the framework's ability to enhance decision-making safety (achieving a 100% safety rate), replicate human-like driving behaviors (with decision alignment exceeding 85%), and adapt effectively to unpredictable scenarios. SafeDrive establishes a novel paradigm for integrating knowledge- and data-driven methods, highlighting significant potential to improve safety and adaptability of autonomous driving in high-risk traffic scenarios. Project Page: https://mezzi33.github.io/SafeDrive/

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Zhiyuan Zhou, Heye Huang, Boqi Li, Shiyue Zhao, Yao Mu, Jianqiang Wang. 2024-12-17. SafeDrive: Knowledge- and Data-Driven Risk-Sensitive Decision-Making for Autonomous Vehicles with Large Language Models. https://arxiv.org/abs/2412.13238

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