Ensuring both safety and efficiency in decision-making for autonomous driving systems remains a fundamental challenge. Traditional Deep Reinforcement Learning (DRL) suffers from unsafe random exploration and slow convergence, while Large Language Models (LLMs) demonstrate inherent latency in real-time inference operations. To address these limitations, this paper proposes SARAD, a novel safety-aware hybrid framework that synergizes LLMs and DRL for autonomous driving. SARAD substitutes the random exploration of DRL with Retrieval-Augmented Generation (RAG)-enhanced, LLM-guided decisions sourced from a dynamic expert knowledge repository. An attention discriminator is proposed to integrate the prior knowledge of LLMs into DRL policy optimization. A collision predictor module, fine-tuned with historical collision data, is further designed to improve vehicle safety. Extensive experiments show that SARAD achieves significant performance improvements in the Highway-Env simulator, validating the effectiveness of the proposed model in autonomous driving.
@article{arxiv.2605.28583,
title = {SARAD: LLM-Based Safety-Aware Hybrid Reinforcement Learning with Collision Prediction for Autonomous Driving},
author = {Kangyu Wu and Peng Cui and Guoxi Chen and Ya Zhang},
journal= {arXiv preprint arXiv:2605.28583},
year = {2026}
}