# AutoTrust: Benchmarking Trustworthiness in Large Vision Language Models for Autonomous Driving

arXiv: https://arxiv.org/abs/2412.15206 · HTML: https://mlsanity.com/paper/2412.15206/

## Key facts

- Cited by 35 papers in the map (data through 14 Oct 2026).
- Placed in Chain-of-thought reasoning for driving, one of 17 directions in LLM reasoning.
- Builds on 52 of its 125 references that are in the map.
- First posted on arXiv 19 Dec 2024.

## Placed in

- LLM reasoning / [Chain-of-thought reasoning for driving](https://mlsanity.com/lr/chain-of-thought-reasoning-for-driving/)
- Multimodal LLMs / vision-language models / [Driving VLMs and open-vocabulary detection](https://mlsanity.com/mllm/driving-vlms-and-open-vocabulary-detection/)
- End-to-end autonomous driving / [VLMs for autonomous driving](https://mlsanity.com/driving/vlms-for-autonomous-driving/)

## Builds on (most cited first, 30 of 52)

- [BERT: Pre-training of Deep Bidirectional Transformers for Language Understanding](https://mlsanity.com/paper/1810.04805/) (2018)
- [The Llama 3 Herd of Models](https://mlsanity.com/paper/2407.21783/) (2024)
- [LLaMA: Open and Efficient Foundation Language Models](https://mlsanity.com/paper/2302.13971/) (2023)
- [Llama 2: Open Foundation and Fine-Tuned Chat Models](https://mlsanity.com/paper/2307.09288/) (2023)
- [Chain-of-Thought Prompting Elicits Reasoning in Large Language Models](https://mlsanity.com/paper/2201.11903/) (2022)
- [Towards Deep Learning Models Resistant to Adversarial Attacks](https://mlsanity.com/paper/1706.06083/) (2017)
- [GPT-4o System Card](https://mlsanity.com/paper/2410.21276/) (2024)
- [Qwen2-VL: Enhancing Vision-Language Model's Perception of the World at Any Resolution](https://mlsanity.com/paper/2409.12191/) (2024)
- [OpenVLA: An Open-Source Vision-Language-Action Model](https://mlsanity.com/paper/2406.09246/) (2024)
- [Qwen-VL: A Versatile Vision-Language Model for Understanding, Localization, Text Reading, and Beyond](https://mlsanity.com/paper/2308.12966/) (2023)
- [Code Llama: Open Foundation Models for Code](https://mlsanity.com/paper/2308.12950/) (2023)
- [Qwen2 Technical Report](https://mlsanity.com/paper/2407.10671/) (2024)
- [Adversarial examples in the physical world](https://mlsanity.com/paper/1607.02533/) (2016)
- [Evaluating Object Hallucination in Large Vision-Language Models](https://mlsanity.com/paper/2305.10355/) (2023)
- [Microsoft COCO Captions: Data Collection and Evaluation Server](https://mlsanity.com/paper/1504.00325/) (2015)
- [Gemini: A Family of Highly Capable Multimodal Models](https://mlsanity.com/paper/2312.11805/) (2023)
- [LLaMA-Adapter V2: Parameter-Efficient Visual Instruction Model](https://mlsanity.com/paper/2304.15010/) (2023)
- [LLaVA-NeXT-Interleave: Tackling Multi-image, Video, and 3D in Large Multimodal Models](https://mlsanity.com/paper/2407.07895/) (2024)
- [HallusionBench: An Advanced Diagnostic Suite for Entangled Language Hallucination and Visual Illusion in Large Vision-Language Models](https://mlsanity.com/paper/2310.14566/) (2023)
- [OpenFlamingo: An Open-Source Framework for Training Large Autoregressive Vision-Language Models](https://mlsanity.com/paper/2308.01390/) (2023)
- [DriveLM: Driving with Graph Visual Question Answering](https://mlsanity.com/paper/2312.14150/) (2023)
- [DriveVLM: The Convergence of Autonomous Driving and Large Vision-Language Models](https://mlsanity.com/paper/2402.12289/) (2024)
- [EMMA: End-to-End Multimodal Model for Autonomous Driving](https://mlsanity.com/paper/2410.23262/) (2024)
- [Better Zero-Shot Reasoning with Role-Play Prompting](https://mlsanity.com/paper/2308.07702/) (2023)
- [Two Tales of Persona in LLMs: A Survey of Role-Playing and Personalization](https://mlsanity.com/paper/2406.01171/) (2024)
- [Aligning Modalities in Vision Large Language Models via Preference Fine-tuning](https://mlsanity.com/paper/2402.11411/) (2024)
- [Safety Fine-Tuning at (Almost) No Cost: A Baseline for Vision Large Language Models](https://mlsanity.com/paper/2402.02207/) (2024)
- [Senna: Bridging Large Vision-Language Models and End-to-End Autonomous Driving](https://mlsanity.com/paper/2410.22313/) (2024)
- [LingoQA: Visual Question Answering for Autonomous Driving](https://mlsanity.com/paper/2312.14115/) (2023)
- [Dolphins: Multimodal Language Model for Driving](https://mlsanity.com/paper/2312.00438/) (2023)

## Built on by (most cited first, 30 of 35)

- [Stop Overthinking: A Survey on Efficient Reasoning for Large Language Models](https://mlsanity.com/paper/2503.16419/) (2025)
- [NuScenes-SpatialQA: A Spatial Understanding and Reasoning Benchmark for Vision-Language Models in Autonomous Driving](https://mlsanity.com/paper/2504.03164/) (2025)
- [Can Large Vision Language Models Read Maps Like a Human?](https://mlsanity.com/paper/2503.14607/) (2025)
- [Re-Align: Aligning Vision Language Models via Retrieval-Augmented Direct Preference Optimization](https://mlsanity.com/paper/2502.13146/) (2025)
- [UniOcc: A Unified Benchmark for Occupancy Forecasting and Prediction in Autonomous Driving](https://mlsanity.com/paper/2503.24381/) (2025)
- [LangCoop: Collaborative Driving with Language](https://mlsanity.com/paper/2504.13406/) (2025)
- [SAFEFLOW: A Principled Protocol for Trustworthy and Transactional Autonomous Agent Systems](https://mlsanity.com/paper/2506.07564/) (2025)
- [DecAlign: Hierarchical Cross-Modal Alignment for Decoupled Multimodal Representation Learning](https://mlsanity.com/paper/2503.11892/) (2025)
- [Embodied Scene Understanding for Vision Language Models via MetaVQA](https://mlsanity.com/paper/2501.09167/) (2025)
- [DynCIM: Dynamic Curriculum for Imbalanced Multimodal Learning](https://mlsanity.com/paper/2503.06456/) (2025)
- [CoCMT: Communication-Efficient Cross-Modal Transformer for Collaborative Perception](https://mlsanity.com/paper/2503.13504/) (2025)
- [Chain-of-Thought for Autonomous Driving: A Comprehensive Survey and Future Prospects](https://mlsanity.com/paper/2505.20223/) (2025)
- [JailDAM: Jailbreak Detection with Adaptive Memory for Vision-Language Model](https://mlsanity.com/paper/2504.03770/) (2025)
- [Research Challenges and Progress in the End-to-End V2X Cooperative Autonomous Driving Competition](https://mlsanity.com/paper/2507.21610/) (2025)
- [Bench2ADVLM: A Closed-Loop Benchmark for Vision-language Models in Autonomous Driving](https://mlsanity.com/paper/2508.02028/) (2025)
- [Generative AI for Autonomous Driving: Frontiers and Opportunities](https://mlsanity.com/paper/2505.08854/) (2025)
- [Evidence-Grounded Trustworthy Multimodal Reasoning and Evaluation Benchmark in Complex Urban Scenes](https://mlsanity.com/paper/2506.09557/) (2025)
- [DRAMA-X: A Fine-grained Intent Prediction and Risk Reasoning Benchmark For Driving](https://mlsanity.com/paper/2506.17590/) (2025)
- [Automated Vehicles Should be Connected with Natural Language](https://mlsanity.com/paper/2507.01059/) (2025)
- [Evaluation of Safety Cognition Capability in Vision-Language Models for Autonomous Driving](https://mlsanity.com/paper/2503.06497/) (2025)
- [Demystifying the Visual Quality Paradox in Multimodal Large Language Models](https://mlsanity.com/paper/2506.15645/) (2025)
- [Edge-Based Multimodal Sensor Data Fusion with Vision Language Models (VLMs) for Real-time Autonomous Vehicle Accident Avoidance](https://mlsanity.com/paper/2508.01057/) (2025)
- [ADV-0: Closed-Loop Min-Max Adversarial Training for Long-Tail Robustness in Autonomous Driving](https://mlsanity.com/paper/2603.15221/) (2026)
- [SafeCoop: Unravelling Full Stack Safety in Agentic Collaborative Driving](https://mlsanity.com/paper/2510.18123/) (2025)
- [Understanding Real-World Traffic Safety through RoadSafe365 Benchmark](https://mlsanity.com/paper/2602.07212/) (2026)
- [HarmTransform: Transforming Explicit Harmful Queries into Stealthy via Multi-Agent Debate](https://mlsanity.com/paper/2512.23717/) (2025)
- [Neuro-Symbolic Drive: Rule-Grounded Faithful Reasoning for Driving VLAs](https://mlsanity.com/paper/2606.23938/) (2026)
- [NexusFlow: Unifying Disparate Tasks under Partial Supervision via Invertible Flow Networks](https://mlsanity.com/paper/2512.06251/) (2025)
- [From Steering to Pedalling: Do Autonomous Driving VLMs Generalize to Cyclist-Assistive Spatial Perception and Planning?](https://mlsanity.com/paper/2602.10771/) (2026)
- [NutVLM: A Self-Adaptive Defense Framework against Full-Dimension Attacks for Vision Language Models in Autonomous Driving](https://mlsanity.com/paper/2602.13293/) (2026)

## Abstract (arXiv)

Recent advancements in large vision language models (VLMs) tailored for autonomous driving (AD) have shown strong scene understanding and reasoning capabilities, making them undeniable candidates for end-to-end driving systems. However, limited work exists on studying the trustworthiness of DriveVLMs -- a critical factor that directly impacts public transportation safety. In this paper, we introduce AutoTrust, a comprehensive trustworthiness benchmark for large vision-language models in autonomous driving (DriveVLMs), considering diverse perspectives -- including trustfulness, safety, robustness, privacy, and fairness. We constructed the largest visual question-answering dataset for investigating trustworthiness issues in driving scenarios, comprising over 10k unique scenes and 18k queries. We evaluated six publicly available VLMs, spanning from generalist to specialist, from open-source to commercial models. Our exhaustive evaluations have unveiled previously undiscovered vulnerabilities of DriveVLMs to trustworthiness threats. Specifically, we found that the general VLMs like LLaVA-v1.6 and GPT-4o-mini surprisingly outperform specialized models fine-tuned for driving in terms of overall trustworthiness. DriveVLMs like DriveLM-Agent are particularly vulnerable to disclosing sensitive information. Additionally, both generalist and specialist VLMs remain susceptible to adversarial attacks and struggle to ensure unbiased decision-making across diverse environments and populations. Our findings call for immediate and decisive action to address the trustworthiness of DriveVLMs -- an issue of critical importance to public safety and the welfare of all citizens relying on autonomous transportation systems. We release all the codes and datasets in https://github.com/taco-group/AutoTrust.