# Explanation for Trajectory Planning using Multi-modal Large Language Model for Autonomous Driving

arXiv: https://arxiv.org/abs/2411.09971 · HTML: https://mlsanity.com/paper/2411.09971/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- Placed in Reasoning VLA and VLM driving policies, one of 9 directions in End-to-end autonomous driving.
- Builds on 17 of its 23 references that are in the map.
- First posted on arXiv 15 Nov 2024.

## Placed in

- End-to-end autonomous driving / [Reasoning VLA and VLM driving policies](https://mlsanity.com/driving/reasoning-vla-and-vlm-driving-policies/)

## Builds on (most cited first, 17 of 17)

- [Attention Is All You Need](https://mlsanity.com/paper/1706.03762/) (2017)
- [Learning Transferable Visual Models From Natural Language Supervision](https://mlsanity.com/paper/2103.00020/) (2021)
- [BLIP-2: Bootstrapping Language-Image Pre-training with Frozen Image Encoders and Large Language Models](https://mlsanity.com/paper/2301.12597/) (2023)
- [nuScenes: A multimodal dataset for autonomous driving](https://mlsanity.com/paper/1903.11027/) (2019)
- [Show and Tell: A Neural Image Caption Generator](https://mlsanity.com/paper/1411.4555/) (2014)
- [End-to-end Autonomous Driving: Challenges and Frontiers](https://mlsanity.com/paper/2306.16927/) (2023)
- [DriveGPT4: Interpretable End-to-end Autonomous Driving via Large Language Model](https://mlsanity.com/paper/2310.01412/) (2023)
- [A Survey of Autonomous Driving: Common Practices and Emerging Technologies](https://mlsanity.com/paper/1906.05113/) (2019)
- [NuScenes-QA: A Multi-modal Visual Question Answering Benchmark for Autonomous Driving Scenario](https://mlsanity.com/paper/2305.14836/) (2023)
- [Textual Explanations for Self-Driving Vehicles](https://mlsanity.com/paper/1807.11546/) (2018)
- [DRAMA: Joint Risk Localization and Captioning in Driving](https://mlsanity.com/paper/2209.10767/) (2022)
- [Neural Baby Talk](https://mlsanity.com/paper/1803.09845/) (2018)
- [Contrastive Learning Rivals Masked Image Modeling in Fine-tuning via Feature Distillation](https://mlsanity.com/paper/2205.14141/) (2022)
- [ADAPT: Action-aware Driving Caption Transformer](https://mlsanity.com/paper/2302.00673/) (2023)
- [Rank2Tell: A Multimodal Driving Dataset for Joint Importance Ranking and Reasoning](https://mlsanity.com/paper/2309.06597/) (2023)
- [A Closer Look at the Robustness of Contrastive Language-Image Pre-Training (CLIP)](https://mlsanity.com/paper/2402.07410/) (2024)
- [BLOS-BEV: Navigation Map Enhanced Lane Segmentation Network, Beyond Line of Sight](https://mlsanity.com/paper/2407.08526/) (2024)

## Built on by (most cited first, 1 of 1)

- [RAD: Retrieval-Augmented Decision-Making of Meta-Actions with Vision-Language Models in Autonomous Driving](https://mlsanity.com/paper/2503.13861/) (2025)

## Abstract (arXiv)

End-to-end style autonomous driving models have been developed recently. These models lack interpretability of decision-making process from perception to control of the ego vehicle, resulting in anxiety for passengers. To alleviate it, it is effective to build a model which outputs captions describing future behaviors of the ego vehicle and their reason. However, the existing approaches generate reasoning text that inadequately reflects the future plans of the ego vehicle, because they train models to output captions using momentary control signals as inputs. In this study, we propose a reasoning model that takes future planning trajectories of the ego vehicle as inputs to solve this limitation with the dataset newly collected.