HCRMP: An LLM-Hinted Contextual Reinforcement Learning Framework for Autonomous Driving
Zhiwen Chen, Zhuoren Li, Bo Leng, Hanming Deng, Guizhe Jin, Ran Yu, Huanxi Wen
Integrating the understanding and reasoning capabilities of Large Language Models (LLM) with the self-learning capabilities of Reinforcement Learning (RL) enables more reliable driving performance under complex driving conditions. There has been a lot of work exploring LLM-Dominated RL methods in the field of autonomous driving motion planning. These methods, which utilize LLM to directly generate policies or provide decisive instructions during policy learning of RL agent, are centrally characterized by an over-reliance on LLM outputs. However, LLM outputs are susceptible to hallucinations. Evaluations show that state-of-the-art LLM indicates a non-hallucination rate of only approximately 57.95\% when assessed on essential driving-related tasks. Thus, in these methods, hallucinations from the LLM can directly jeopardize the performance of driving policies. This paper argues that maintaining relative independence between the LLM and the RL is vital for solving the hallucinations problem. Consequently, this paper is devoted to propose a novel LLM-Hinted RL paradigm. The LLM is used to generate semantic hints for state augmentation and policy optimization to assist RL agent in motion planning, while the RL agent counteracts potential erroneous semantic indications through policy learning to achieve excellent driving performance. Based on this paradigm, we propose the HCRMP (LLM-Hinted Contextual Reinforcement Learning Motion Planner) architecture, which is designed that includes  ①Augmented Semantic Representation Module to extend state space. ②Contextual Stability Anchor Module enhances the reliability of multi-critic weight hints by utilizing information from the knowledge base. ③Semantic Cache Module is employed to seamlessly integrate LLM low-frequency guidance with RL high-frequency control. Extensive experiments in CARLA validate HCRMP's strong overall driving performance. HCRMP achieves a task success rate of up to 80.3\% under diverse driving conditions with different traffic densities. Under safety-critical driving conditions, HCRMP significantly reduces the collision rate by 11.4\%, which effectively improves the driving performance in complex scenarios.