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SACA: A Scenario-Aware Collision Avoidance Framework for Autonomous Vehicles Integrating LLMs-Driven Reasoning

31 March 2025
Shiyue Zhao
Junzhi Zhang
Neda Masoud
Heye Huang
Xingpeng Xia
Chengkun He
    LRM
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Abstract

Reliable collision avoidance under extreme situations remains a critical challenge for autonomous vehicles. While large language models (LLMs) offer promising reasoning capabilities, their application in safety-critical evasive maneuvers is limited by latency and robustness issues. Even so, LLMs stand out for their ability to weigh emotional, legal, and ethical factors, enabling socially responsible and context-aware collision avoidance. This paper proposes a scenario-aware collision avoidance (SACA) framework for extreme situations by integrating predictive scenario evaluation, data-driven reasoning, and scenario-preview-based deployment to improve collision avoidance decision-making. SACA consists of three key components. First, a predictive scenario analysis module utilizes obstacle reachability analysis and motion intention prediction to construct a comprehensive situational prompt. Second, an online reasoning module refines decision-making by leveraging prior collision avoidance knowledge and fine-tuning with scenario data. Third, an offline evaluation module assesses performance and stores scenarios in a memory bank. Additionally, A precomputed policy method improves deployability by previewing scenarios and retrieving or reasoning policies based on similarity and confidence levels. Real-vehicle tests show that, compared with baseline methods, SACA effectively reduces collision losses in extreme high-risk scenarios and lowers false triggering under complex conditions. Project page:this https URL.

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@article{zhao2025_2504.00115,
  title={ SACA: A Scenario-Aware Collision Avoidance Framework for Autonomous Vehicles Integrating LLMs-Driven Reasoning },
  author={ Shiyue Zhao and Junzhi Zhang and Neda Masoud and Heye Huang and Xingpeng Xia and Chengkun He },
  journal={arXiv preprint arXiv:2504.00115},
  year={ 2025 }
}
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