LMDrive: Closed-Loop End-to-End Driving with Large Language Models

Despite significant recent progress in the field of autonomous driving, modern methods still struggle and can incur serious accidents when encountering long-tail unfore-seen events and challenging urban scenarios. On the one hand, large language models (LLM) have shown impres-sive reasoning capabilities that approach “Artificial Gen-eral Intelligence”. On the other hand, previous autonomous driving methods tend to rely on limited-format inputs (e.g., sensor data and navigation waypoints), restricting the vehi-cle's ability to understand language information and inter-act with humans. To this end, this paper introduces LM-Drive, a novel language-guided, end-to-end, closed-loop autonomous driving framework.…