LMMCoDrive: Cooperative Driving with Large Multimodal Models
Haichao Liu, Ruoyu Yao, Zhenmin Huang, Shaojie Shen, Jun Ma
Abstract
To address the intricate challenges of cooperative scheduling and motion planning in Autonomous Mobility-on-Demand (AMoD) systems, this paper introduces LMMCoDrive, a novel cooperative driving framework that leverages a Large Multimodal Model (LMM) to improve traffic efficiency and passenger experience in dynamic urban environments. This framework seamlessly integrates scheduling and motion planning processes to ensure the effective operation of Cooperative Autonomous Vehicles (CAVs). The spatial relationship between CAVs and passenger requests is abstracted into a Bird’s-Eye View (BEV) image to fully exploit the potential of the multimodal understanding ability of LMMs. Besides, trajectories are cautiously refined for each CAV while ensuring collision avoidance through safety constraints. A decentralized optimization strategy, facilitated by the Alternating Direction Method of Multipliers (ADMM) within the LMM framework, is proposed to drive the graph evolution of CAVs. Simulation results in diverse urban scenarios demonstrate the pivotal role and significant impact of LMM in optimizing CAV scheduling and seamlessly serving a decentralized cooperative optimization process for each CAV. This marks a substantial stride towards practical, efficient, and safe AMoD systems that are poised to revolutionize urban transportation. The code is available at https://github.com/henryhcliu/LMMCoDrive.
BibTeX
@inproceedings{iros2025_lmmcodrivecooper,
title = {LMMCoDrive: Cooperative Driving with Large Multimodal Models},
author = {Haichao Liu and Ruoyu Yao and Zhenmin Huang and Shaojie Shen and Jun Ma},
booktitle = {IROS 2025},
year = {2025}
}