arxivcs.ROcs.CV2026-07-21
Cognitive Dual-Process Planning for Autonomous Driving with Structured Scene Knowledge and Verifiable Reasoning-Action Consistency
Zhongyao Yang, Haoyu Li, Yu Yan, Zhuangxuan Yu, Jiangfeng Nan, Jinrui Nan
High-level planning for autonomous driving is a knowledge-intensive engineering decision task that requires accurate scene understanding, timely inference, and internally consistent action selection. Vision-language models (VLMs) can make intermediate reasoning explicit, but thei…