CoLMIN: LLM-based Multi-Decision Path Negotiation for Cooperative Autonomous Driving

2026-09-04

AI Summary

为解决多车协同自动驾驶中的决策收敛于次优解问题，提出CoLMIN框架，通过多决策路径协商与反思推理达成稳定共识。

Abstract

Multi-vehicle cooperative autonomous driving enhances the safety and reliability of autonomous driving systems through information sharing among connected vehicles, demonstrating significant potential for improving traffic safety. LLM-based approaches leverage strong reasoning capabilities of LLMs to enable effective inter-vehicle negotiation and improve cooperative driving performance. However, driving decisions in complex traffic scenarios are inherently multi-solution in nature. As a result, existing negotiation-based methods often converge prematurely to suboptimal solutions, hindering consensus formation and limiting the practical deployment of cooperative autonomous driving systems. To address this challenge, we propose CoLMIN, the LLM-based multi-decision path negotiation framework for cooperative autonomous driving, achieving stable decision consensus through multi-decision path negotiation and reflective reasoning. To achieve stable and high-quality consensus in cooperative autonomous driving, CoLMIN consists of three key components: (i) an LLM-based Multi-Intent Negotiation module (LMin), which adopts a Negotiator-Evaluator paradigm and generates multiple candidate driving intentions for joint evaluation; (ii) an Evaluation-based Shallow Reflection Module (ESRM), which analyzes negotiation outcomes and provides feedback to guide subsequent negotiations, thereby accelerating consensus formation; and (iii) an LLM-based Deep Reflection Module (LDRM), which performs long-term reflection over negotiation histories to mitigate cognitive fixation and prevent the system from converging to suboptimal solutions. Experimental results in the CARLA simulation environment demonstrate that CoLMIN significantly outperforms existing methods in challenging interactive driving scenarios.

Problem

• Cooperative Autonomous Driving
• Multi-Decision Path Negotiation
• LLM-based Approaches
• Consensus Formation

Innovation

• LLM-based
• Multi-Decision Path Negotiation
• Reflective Reasoning
• Cooperative Autonomous Driving