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The Multi-modal Large Language Models (MLLMs) with extensive world knowledge have revitalized autonomous driving, particularly in reasoning tasks within perceivable regions. However, when faced with perception-limited areas (dynamic or…

Autonomous control systems face significant challenges in performing complex tasks in the presence of latent risks. To address this, we propose an integrated framework that combines Large Language Models (LLMs), numerical optimization, and…

Drivers' perception of risky situations has always been a challenge in driving. Existing risk-detection methods excel at identifying collisions but face challenges in assessing the behavior of road users in non-collision situations. This…

Autonomous driving has made significant strides through data-driven techniques, achieving robust performance in standardized tasks. However, existing methods frequently overlook user-specific preferences, offering limited scope for…

Autonomous driving requires reliable perception and safe decision-making in complex scenarios. Recent vision-language models (VLMs) demonstrate reasoning and generalization abilities, opening new possibilities for autonomous driving;…

Autonomous Driving (AD) encounters significant safety hurdles in long-tail unforeseen driving scenarios, largely stemming from the non-interpretability and poor generalization of the deep neural networks within the AD system, particularly…

Human drivers possess spatial and causal intelligence, enabling them to perceive driving scenarios, anticipate hazards, and react to dynamic environments. In contrast, autonomous vehicles lack these abilities, making it challenging to…

Autonomous vehicles (AVs) rely on sophisticated perception systems to interpret their surroundings, a cornerstone for safe navigation and decision-making. The integration of Large Language Models (LLMs) into AV perception frameworks offers…

Autonomous driving systems face significant challenges in handling unpredictable edge-case scenarios, such as adversarial pedestrian movements, dangerous vehicle maneuvers, and sudden environmental changes. Current end-to-end driving models…

Fusing sensors with complementary modalities is crucial for maintaining a stable and comprehensive understanding of abnormal driving scenes. However, Multimodal Large Language Models (MLLMs) are underexplored for leveraging multi-sensor…

Recent efforts to use natural language for interpretable driving focus mainly on planning, neglecting perception tasks. In this paper, we address this gap by introducing ROLISP (Risk Object Localization and Intention and Suggestion…

End-to-end autonomous driving frameworks face persistent challenges in generalization, training efficiency, and interpretability. While recent methods leverage Vision-Language Models (VLMs) through supervised learning on large-scale…

Reliable collision avoidance under extreme situations remains a critical challenge for autonomous vehicles. While large language models (LLMs) offer promising reasoning capabilities, their application in safety-critical evasive maneuvers is…

To ensure safe driving in dynamic environments, autonomous vehicles should possess the capability to accurately predict lane change intentions of surrounding vehicles in advance and forecast their future trajectories. Existing motion…

Autonomous Vehicles (AVs) must make reliable decisions in dense urban environments where pedestrian behavior is variable, sometimes abnormal, and often unseen during training. Reinforcement learning (RL)-based AV control systems perform…

Existing learning-based autonomous driving (AD) systems face challenges in comprehending high-level information, generalizing to rare events, and providing interpretability. To address these problems, this work employs Large Language Models…

Current end-to-end deep learning driving models have two problems: (1) Poor generalization ability of unobserved driving environment when diversity of training driving dataset is limited (2) Lack of accident explanation ability when driving…

Driving in safety-critical scenarios requires quick, context-aware decision-making grounded in both situational understanding and experiential reasoning. Large Language Models (LLMs), with their powerful general-purpose reasoning…

Current autonomous driving vehicles rely mainly on their individual sensors to understand surrounding scenes and plan for future trajectories, which can be unreliable when the sensors are malfunctioning or occluded. To address this problem,…

Autonomous cars have to navigate in dynamic environment which can be full of uncertainties. The uncertainties can come either from sensor limitations such as occlusions and limited sensor range, or from probabilistic prediction of other…