# Textual Explanations for Self-Driving Vehicles

arXiv: https://arxiv.org/abs/1807.11546 · HTML: https://mlsanity.com/paper/1807.11546/

## Key facts

- Cited by 226 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 30 Jul 2018.

## Built on by (most cited first, 30 of 226)

- [DriveLM: Driving with Graph Visual Question Answering](https://mlsanity.com/paper/2312.14150/) (2023)
- [End-to-end Autonomous Driving: Challenges and Frontiers](https://mlsanity.com/paper/2306.16927/) (2023)
- [DriveVLM: The Convergence of Autonomous Driving and Large Vision-Language Models](https://mlsanity.com/paper/2402.12289/) (2024)
- [Recent Advances in Natural Language Processing via Large Pre-Trained Language Models: A Survey](https://mlsanity.com/paper/2111.01243/) (2021)
- [DriveGPT4: Interpretable End-to-end Autonomous Driving via Large Language Model](https://mlsanity.com/paper/2310.01412/) (2023)
- [Language in a Bottle: Language Model Guided Concept Bottlenecks for Interpretable Image Classification](https://mlsanity.com/paper/2211.11158/) (2022)
- [A Survey on Multimodal Large Language Models for Autonomous Driving](https://mlsanity.com/paper/2311.12320/) (2023)
- [Driving with LLMs: Fusing Object-Level Vector Modality for Explainable Autonomous Driving](https://mlsanity.com/paper/2310.01957/) (2023)
- [ReCogDrive: A Reinforced Cognitive Framework for End-to-End Autonomous Driving](https://mlsanity.com/paper/2506.08052/) (2025)
- [Senna: Bridging Large Vision-Language Models and End-to-End Autonomous Driving](https://mlsanity.com/paper/2410.22313/) (2024)
- [Alpamayo-R1: Bridging Reasoning and Action Prediction for Generalizable Autonomous Driving in the Long Tail](https://mlsanity.com/paper/2511.00088/) (2025)
- [LingoQA: Visual Question Answering for Autonomous Driving](https://mlsanity.com/paper/2312.14115/) (2023)
- [OmniDrive: A Holistic Vision-Language Dataset for Autonomous Driving with Counterfactual Reasoning](https://mlsanity.com/paper/2504.04348/) (2025)
- [LLM4Drive: A Survey of Large Language Models for Autonomous Driving](https://mlsanity.com/paper/2311.01043/) (2023)
- [Towards Faithful Model Explanation in NLP: A Survey](https://mlsanity.com/paper/2209.11326/) (2022)
- [Toward Transparent AI: A Survey on Interpreting the Inner Structures of Deep Neural Networks](https://mlsanity.com/paper/2207.13243/) (2022)
- [Teach Me to Explain: A Review of Datasets for Explainable Natural Language Processing](https://mlsanity.com/paper/2102.12060/) (2021)
- [DRAMA: Joint Risk Localization and Captioning in Driving](https://mlsanity.com/paper/2209.10767/) (2022)
- [Vision Language Models in Autonomous Driving: A Survey and Outlook](https://mlsanity.com/paper/2310.14414/) (2023)
- [Reframing Human-AI Collaboration for Generating Free-Text Explanations](https://mlsanity.com/paper/2112.08674/) (2021)
- [Dolphins: Multimodal Language Model for Driving](https://mlsanity.com/paper/2312.00438/) (2023)
- [Are VLMs Ready for Autonomous Driving? An Empirical Study from the Reliability, Data, and Metric Perspectives](https://mlsanity.com/paper/2501.04003/) (2025)
- [Language Prompt for Autonomous Driving](https://mlsanity.com/paper/2309.04379/) (2023)
- [PlanT: Explainable Planning Transformers via Object-Level Representations](https://mlsanity.com/paper/2210.14222/) (2022)
- [Mini-InternVL: A Flexible-Transfer Pocket Multimodal Model with 5% Parameters and 90% Performance](https://mlsanity.com/paper/2410.16261/) (2024)
- [RAG-Driver: Generalisable Driving Explanations with Retrieval-Augmented In-Context Learning in Multi-Modal Large Language Model](https://mlsanity.com/paper/2402.10828/) (2024)
- [A Comprehensive Taxonomy for Explainable Artificial Intelligence: A Systematic Survey of Surveys on Methods and Concepts](https://mlsanity.com/paper/2105.07190/) (2021)
- [e-ViL: A Dataset and Benchmark for Natural Language Explanations in Vision-Language Tasks](https://mlsanity.com/paper/2105.03761/) (2021)
- [Few-Shot Self-Rationalization with Natural Language Prompts](https://mlsanity.com/paper/2111.08284/) (2021)
- [Explanations in Autonomous Driving: A Survey](https://mlsanity.com/paper/2103.05154/) (2021)

## Abstract (arXiv)

Deep neural perception and control networks have become key components of self-driving vehicles. User acceptance is likely to benefit from easy-to-interpret textual explanations which allow end-users to understand what triggered a particular behavior. Explanations may be triggered by the neural controller, namely introspective explanations, or informed by the neural controller's output, namely rationalizations. We propose a new approach to introspective explanations which consists of two parts. First, we use a visual (spatial) attention model to train a convolutional network end-to-end from images to the vehicle control commands, i.e., acceleration and change of course. The controller's attention identifies image regions that potentially influence the network's output. Second, we use an attention-based video-to-text model to produce textual explanations of model actions. The attention maps of controller and explanation model are aligned so that explanations are grounded in the parts of the scene that mattered to the controller. We explore two approaches to attention alignment, strong- and weak-alignment. Finally, we explore a version of our model that generates rationalizations, and compare with introspective explanations on the same video segments. We evaluate these models on a novel driving dataset with ground-truth human explanations, the Berkeley DeepDrive eXplanation (BDD-X) dataset. Code is available at https://github.com/JinkyuKimUCB/explainable-deep-driving.