# LLM4Drive: A Survey of Large Language Models for Autonomous Driving

arXiv: https://arxiv.org/abs/2311.01043 · HTML: https://mlsanity.com/paper/2311.01043/

## Key facts

- Cited by 136 papers in the map (data through 14 Oct 2026).
- Placed in Large language models for driving, one of 9 directions in End-to-end autonomous driving.
- Builds on 85 of its 166 references that are in the map.
- First posted on arXiv 2 Nov 2023.

## Placed in

- End-to-end autonomous driving / [Large language models for driving](https://mlsanity.com/driving/large-language-models-for-driving/)

## Builds on (most cited first, 30 of 85)

- [Deep Residual Learning for Image Recognition](https://mlsanity.com/paper/1512.03385/) (2015)
- [BERT: Pre-training of Deep Bidirectional Transformers for Language Understanding](https://mlsanity.com/paper/1810.04805/) (2018)
- [Learning Transferable Visual Models From Natural Language Supervision](https://mlsanity.com/paper/2103.00020/) (2021)
- [Language Models are Few-Shot Learners](https://mlsanity.com/paper/2005.14165/) (2020)
- [Denoising Diffusion Probabilistic Models](https://mlsanity.com/paper/2006.11239/) (2020)
- [U-Net: Convolutional Networks for Biomedical Image Segmentation](https://mlsanity.com/paper/1505.04597/) (2015)
- [High-Resolution Image Synthesis with Latent Diffusion Models](https://mlsanity.com/paper/2112.10752/) (2021)
- [Training language models to follow instructions with human feedback](https://mlsanity.com/paper/2203.02155/) (2022)
- [Hierarchical Text-Conditional Image Generation with CLIP Latents](https://mlsanity.com/paper/2204.06125/) (2022)
- [BLIP-2: Bootstrapping Language-Image Pre-training with Frozen Image Encoders and Large Language Models](https://mlsanity.com/paper/2301.12597/) (2023)
- [Generative Adversarial Networks](https://mlsanity.com/paper/2203.00667/) (2022)
- [nuScenes: A multimodal dataset for autonomous driving](https://mlsanity.com/paper/1903.11027/) (2019)
- [On the Opportunities and Risks of Foundation Models](https://mlsanity.com/paper/2108.07258/) (2021)
- [RT-2: Vision-Language-Action Models Transfer Web Knowledge to Robotic Control](https://mlsanity.com/paper/2307.15818/) (2023)
- [Masked-attention Mask Transformer for Universal Image Segmentation](https://mlsanity.com/paper/2112.01527/) (2021)
- [Variational Inference with Normalizing Flows](https://mlsanity.com/paper/1505.05770/) (2015)
- [CIDEr: Consensus-based Image Description Evaluation](https://mlsanity.com/paper/1411.5726/) (2014)
- [Video-LLaMA: An Instruction-tuned Audio-Visual Language Model for Video Understanding](https://mlsanity.com/paper/2306.02858/) (2023)
- [Generalized Intersection over Union: A Metric and A Loss for Bounding Box Regression](https://mlsanity.com/paper/1902.09630/) (2019)
- [Towards Accurate Generative Models of Video: A New Metric & Challenges](https://mlsanity.com/paper/1812.01717/) (2018)
- [BEVFormer: Learning Bird's-Eye-View Representation from Multi-Camera Images via Spatiotemporal Transformers](https://mlsanity.com/paper/2203.17270/) (2022)
- [Center-based 3D Object Detection and Tracking](https://mlsanity.com/paper/2006.11275/) (2020)
- [Planning-oriented Autonomous Driving](https://mlsanity.com/paper/2212.10156/) (2022)
- [BEVFusion: Multi-Task Multi-Sensor Fusion with Unified Bird's-Eye View Representation](https://mlsanity.com/paper/2205.13542/) (2022)
- [SPICE: Semantic Propositional Image Caption Evaluation](https://mlsanity.com/paper/1607.08822/) (2016)
- [The Dawn of LMMs: Preliminary Explorations with GPT-4V(ision)](https://mlsanity.com/paper/2309.17421/) (2023)
- [Text2Video-Zero: Text-to-Image Diffusion Models are Zero-Shot Video Generators](https://mlsanity.com/paper/2303.13439/) (2023)
- [GAIA-1: A Generative World Model for Autonomous Driving](https://mlsanity.com/paper/2309.17080/) (2023)
- [Large Scale Interactive Motion Forecasting for Autonomous Driving : The Waymo Open Motion Dataset](https://mlsanity.com/paper/2104.10133/) (2021)
- [AirSim: High-Fidelity Visual and Physical Simulation for Autonomous Vehicles](https://mlsanity.com/paper/1705.05065/) (2017)

## Built on by (most cited first, 30 of 136)

- [A Survey on the Memory Mechanism of Large Language Model based Agents](https://mlsanity.com/paper/2404.13501/) (2024)
- [Measuring Multimodal Mathematical Reasoning with MATH-Vision Dataset](https://mlsanity.com/paper/2402.14804/) (2024)
- [DriveVLM: The Convergence of Autonomous Driving and Large Vision-Language Models](https://mlsanity.com/paper/2402.12289/) (2024)
- [NAVSIM: Data-Driven Non-Reactive Autonomous Vehicle Simulation and Benchmarking](https://mlsanity.com/paper/2406.15349/) (2024)
- [MME-RealWorld: Could Your Multimodal LLM Challenge High-Resolution Real-World Scenarios that are Difficult for Humans?](https://mlsanity.com/paper/2408.13257/) (2024)
- [Bench2Drive: Towards Multi-Ability Benchmarking of Closed-Loop End-To-End Autonomous Driving](https://mlsanity.com/paper/2406.03877/) (2024)
- [A Survey on Large Language Model Acceleration based on KV Cache Management](https://mlsanity.com/paper/2412.19442/) (2024)
- [DriveTransformer: Unified Transformer for Scalable End-to-End Autonomous Driving](https://mlsanity.com/paper/2503.07656/) (2025)
- [Are VLMs Ready for Autonomous Driving? An Empirical Study from the Reliability, Data, and Metric Perspectives](https://mlsanity.com/paper/2501.04003/) (2025)
- [RAG-Driver: Generalisable Driving Explanations with Retrieval-Augmented In-Context Learning in Multi-Modal Large Language Model](https://mlsanity.com/paper/2402.10828/) (2024)
- [DriveMoE: Mixture-of-Experts for Vision-Language-Action Model in End-to-End Autonomous Driving](https://mlsanity.com/paper/2505.16278/) (2025)
- [Efficient Inference for Large Reasoning Models: A Survey](https://mlsanity.com/paper/2503.23077/) (2025)
- [A Survey for Foundation Models in Autonomous Driving](https://mlsanity.com/paper/2402.01105/) (2024)
- [Think2Drive: Efficient Reinforcement Learning by Thinking in Latent World Model for Quasi-Realistic Autonomous Driving (in CARLA-v2)](https://mlsanity.com/paper/2402.16720/) (2024)
- [Raw2Drive: Reinforcement Learning with Aligned World Models for End-to-End Autonomous Driving (in CARLA v2)](https://mlsanity.com/paper/2505.16394/) (2025)
- [LaMPilot: An Open Benchmark Dataset for Autonomous Driving with Language Model Programs](https://mlsanity.com/paper/2312.04372/) (2023)
- [ReSim: Reliable World Simulation for Autonomous Driving](https://mlsanity.com/paper/2506.09981/) (2025)
- [Asynchronous Large Language Model Enhanced Planner for Autonomous Driving](https://mlsanity.com/paper/2406.14556/) (2024)
- [Foundation Models in Autonomous Driving: A Survey on Scenario Generation and Scenario Analysis](https://mlsanity.com/paper/2506.11526/) (2025)
- [Visual Large Language Models for Generalized and Specialized Applications](https://mlsanity.com/paper/2501.02765/) (2025)
- [LC-LLM: Explainable Lane-Change Intention and Trajectory Predictions with Large Language Models](https://mlsanity.com/paper/2403.18344/) (2024)
- [Empowering Autonomous Driving with Large Language Models: A Safety Perspective](https://mlsanity.com/paper/2312.00812/) (2023)
- [Vision-Language-Action Models for Autonomous Driving: Past, Present, and Future](https://mlsanity.com/paper/2512.16760/) (2025)
- [Reasoning on a Budget: A Survey of Adaptive and Controllable Test-Time Compute in LLMs](https://mlsanity.com/paper/2507.02076/) (2025)
- [ICT: Image-Object Cross-Level Trusted Intervention for Mitigating Object Hallucination in Large Vision-Language Models](https://mlsanity.com/paper/2411.15268/) (2024)
- [RoboTron-Drive: All-in-One Large Multimodal Model for Autonomous Driving](https://mlsanity.com/paper/2412.07689/) (2024)
- [Inference-Time Computations for LLM Reasoning and Planning: A Benchmark and Insights](https://mlsanity.com/paper/2502.12521/) (2025)
- [Can We Trust Embodied Agents? Exploring Backdoor Attacks against Embodied LLM-based Decision-Making Systems](https://mlsanity.com/paper/2405.20774/) (2024)
- [How to Synthesize Text Data without Model Collapse?](https://mlsanity.com/paper/2412.14689/) (2024)
- [Forging Vision Foundation Models for Autonomous Driving: Challenges, Methodologies, and Opportunities](https://mlsanity.com/paper/2401.08045/) (2024)

## Abstract (arXiv)

Autonomous driving technology, a catalyst for revolutionizing transportation and urban mobility, has the tend to transition from rule-based systems to data-driven strategies. Traditional module-based systems are constrained by cumulative errors among cascaded modules and inflexible pre-set rules. In contrast, end-to-end autonomous driving systems have the potential to avoid error accumulation due to their fully data-driven training process, although they often lack transparency due to their "black box" nature, complicating the validation and traceability of decisions. Recently, large language models (LLMs) have demonstrated abilities including understanding context, logical reasoning, and generating answers. A natural thought is to utilize these abilities to empower autonomous driving. By combining LLM with foundation vision models, it could open the door to open-world understanding, reasoning, and few-shot learning, which current autonomous driving systems are lacking. In this paper, we systematically review a research line about textitLarge Language Models for Autonomous Driving (LLM4AD). This study evaluates the current state of technological advancements, distinctly outlining the principal challenges and prospective directions for the field. For the convenience of researchers in academia and industry, we provide real-time updates on the latest advances in the field as well as relevant open-source resources via the designated link: https://github.com/Thinklab-SJTU/Awesome-LLM4AD.