Research on Decision-making of Autonomous Driving in Highway Environment Based on Knowledge and Large Language Model

doi:10.16182/j.issn1004731x.joss.24-0065

Abstract

Abstract:

Aiming at the lack of continuous learning and interpretability of current autonomous driving system,a decision model with cognition, generalization and learning ability is proposed. The model utilizes large language model (LLM) and attention mechanisms to understand and explain driving scenes. the system can accumulate and learn from driving experiences, continuously improving its decision-making ability. In a simulation environment, the closed-loop test decision model is applied in high-speed scenarios.The simulation results show that the success rate of the knowledge-driven model is 7% and 4% higher than those of the rule-based and data-driven methods. Additionally, the model exhibits generalization and interpretability, thereby enhancing the reliability and safety of the automatic driving system.

Key words: driving experience, LLM, attention mechanism, interpretability, knowledge-driven

CLC Number:

TP391.9

Wang Xiang, Tan Guozhen. Research on Decision-making of Autonomous Driving in Highway Environment Based on Knowledge and Large Language Model[J]. Journal of System Simulation, 2025, 37(5): 1246-1255.

Figures/Tables 13

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Table 1

Table 2

Table 3

Kinematic parameters setting

控制	参数设置	四车道	五车道
纵向	$a m a x$ /(km/h²)	20	21
	$D t$ /s	1.5	2
	$a s u b$ /(km/h²)	-17	-17
	$d 0$ /m	15	20
横向	$σ$	0.1	0.05
横向	$λ a$	0.2	0.2

Table 3

Fig. 6

Table 4

Table 5

Table 6

Fig.7

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序号	名称	含义
1	Line-Left	转向左车道
2	Line-Right	转向右车道
3	Idle	保持当前状态
4	Faster	加速
5	Slower	减速

序号	参数	取值	范围
1	Top-k	3	[1,10]
2	Top-p	0.75	(0,1]
3	Temperature	1	(0,1]

方法	Line-Left	Line-Right	Idle	Faster	Slower
RDM	985	1 002	1 785	123	74
DRLM	785	685	2 033	141	35
KDM₂	877	943	1 943	104	27

车道数	方法	碰撞次数	成功率/%	平均速度/(km/h)
4车道	RDM	9	91	105.5
	DRLM	6	94	103.1
	KDM₁	12	88	104.6
	KDM₂	2	98	106.1
5车道	RDM	8	92	107.7
	DRLM	7	93	105.2
	KDM₂	3	97	108.8

方法	碰撞次数	成功率/%	平均速度/(km/h)
RDM	13	87	98.7
DRLM	11	89	96.4
KDM₂	4	96	100.2