# Case-based Reasoning Augmented Large Language Model Framework for Decision Making in Realistic Safety-Critical Driving Scenarios

arXiv: https://arxiv.org/abs/2506.20531 · HTML: https://mlsanity.com/paper/2506.20531/

## Key facts

- Cited by 2 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 7 of its 28 references that are in the map.
- First posted on arXiv 25 Jun 2025.

## Placed in

- LLM reasoning / [Chain-of-thought reasoning for driving](https://mlsanity.com/lr/chain-of-thought-reasoning-for-driving/)
- End-to-end autonomous driving / [Large language models for driving](https://mlsanity.com/driving/large-language-models-for-driving/)

## Builds on (most cited first, 7 of 7)

- [DeepSeek-R1: Incentivizing Reasoning Capability in LLMs via Reinforcement Learning](https://mlsanity.com/paper/2501.12948/) (2025)
- [DriveMLM: Aligning Multi-Modal Large Language Models with Behavioral Planning States for Autonomous Driving](https://mlsanity.com/paper/2312.09245/) (2023)
- [DiLu: A Knowledge-Driven Approach to Autonomous Driving with Large Language Models](https://mlsanity.com/paper/2309.16292/) (2023)
- [ScVLM: Enhancing Vision-Language Model for Safety-Critical Event Understanding](https://mlsanity.com/paper/2410.00982/) (2024)
- [Driving with Regulation: Trustworthy and Interpretable Decision-Making for Autonomous Driving with Retrieval-Augmented Reasoning](https://mlsanity.com/paper/2410.04759/) (2024)
- [SafeDrive: Knowledge- and Data-Driven Risk-Sensitive Decision-Making for Autonomous Vehicles with Large Language Models](https://mlsanity.com/paper/2412.13238/) (2024)
- [SACA: A Scenario-Aware Collision Avoidance Framework for Autonomous Vehicles Integrating LLMs-Driven Reasoning](https://mlsanity.com/paper/2504.00115/) (2025)

## Built on by (most cited first, 2 of 2)

- [Reviewing the Reviewer: Graph-Enhanced LLMs for E-commerce Appeal Adjudication](https://mlsanity.com/paper/2603.19267/) (2026)
- [Retrieval-Augmented Generation in LLMs for Mental Health: Quantifying the Incremental Contribution of Retrieval Within a Layered Safety Architecture](https://mlsanity.com/paper/2607.24817/) (2026)

## Abstract (arXiv)

Driving in safety-critical scenarios requires quick, context-aware decision-making grounded in both situational understanding and experiential reasoning. Large Language Models (LLMs), with their powerful general-purpose reasoning capabilities, offer a promising foundation for such decision-making. However, their direct application to autonomous driving remains limited due to challenges in domain adaptation, contextual grounding, and the lack of experiential knowledge needed to make reliable and interpretable decisions in dynamic, high-risk environments. To address this gap, this paper presents a Case-Based Reasoning Augmented Large Language Model (CBR-LLM) framework for evasive maneuver decision-making in complex risk scenarios. Our approach integrates semantic scene understanding from dashcam video inputs with the retrieval of relevant past driving cases, enabling LLMs to generate maneuver recommendations that are both context-sensitive and human-aligned. Experiments across multiple open-source LLMs show that our framework improves decision accuracy, justification quality, and alignment with human expert behavior. Risk-aware prompting strategies further enhance performance across diverse risk types, while similarity-based case retrieval consistently outperforms random sampling in guiding in-context learning. Case studies further demonstrate the framework's robustness in challenging real-world conditions, underscoring its potential as an adaptive and trustworthy decision-support tool for intelligent driving systems.