Recent advancements in autonomous vehicles (AVs) use Large Language Models (LLMs) to perform well in normal driving scenarios. However, ensuring safety in dynamic, high-risk environments and managing safety-critical long-tail events remain significant challenges. To address these issues, we propose SafeDrive, a knowledge- and data-driven risk-sensitive decision-making framework to enhance AV safety and adaptability. The proposed framework introduces a modular system comprising: (1) a Risk Module for quantifying multi-factor coupled risks involving driver, vehicle, and road interactions; (2) a Memory Module for storing and retrieving typical scenarios to improve adaptability; (3) a LLM-powered Reasoning Module for context-aware safety decision-making; and (4) a Reflection Module for refining decisions through iterative learning. By integrating knowledge-driven insights with adaptive learning mechanisms, the framework ensures robust decision-making under uncertain conditions. Extensive evaluations on real-world traffic datasets, including highways (HighD), intersections (InD), and roundabouts (RounD), validate the framework's ability to enhance decision-making safety (achieving a 100% safety rate), replicate human-like driving behaviors (with decision alignment exceeding 85%), and adapt effectively to unpredictable scenarios. SafeDrive establishes a novel paradigm for integrating knowledge- and data-driven methods, highlighting significant potential to improve safety and adaptability of autonomous driving in high-risk traffic scenarios.

翻译：自动驾驶车辆（AVs）的最新进展利用大型语言模型（LLMs）在正常驾驶场景中表现良好。然而，在动态高风险环境中确保安全性，以及管理安全关键的长尾事件，仍然是重大挑战。为解决这些问题，我们提出了SafeDrive，一种基于知识与数据驱动的风险敏感决策框架，旨在提升自动驾驶的安全性和适应性。该框架引入了一个模块化系统，包括：（1）风险模块，用于量化涉及驾驶员、车辆与道路交互的多因素耦合风险；（2）记忆模块，用于存储和检索典型场景以提升适应性；（3）基于LLM的推理模块，用于进行上下文感知的安全决策；（4）反思模块，通过迭代学习优化决策。通过将知识驱动的洞察与自适应学习机制相结合，该框架确保了在不确定条件下的鲁棒决策。在真实世界交通数据集（包括高速公路（HighD）、交叉路口（InD）和环岛（RounD））上的广泛评估验证了该框架在提升决策安全性（达到100%安全率）、复现类人驾驶行为（决策对齐率超过85%）以及有效适应不可预测场景方面的能力。SafeDrive建立了一种整合知识与数据驱动方法的新范式，突显了在高风险交通场景中提升自动驾驶安全性与适应性的巨大潜力。