Vision Language Models in Autonomous Driving: A Survey and Outlook

The applications of Vision-Language Models (VLMs) in the field of Autonomous Driving (AD) have attracted widespread attention due to their outstanding performance and the ability to leverage Large Language Models (LLMs). By integrating language data, the driving systems can be able to deeply understand real-world environments, improving driving safety and efficiency. In this work, we present a comprehensive and systematic survey of the advances in language models in this domain, encompassing perception and understanding, navigation and planning, decision-making and control, end-to-end autonomous driving, and data generation. We introduce the mainstream VLM tasks and the commonly utilized metrics. Additionally, we review current studies and applications in various areas and summarize the existing language-enhanced autonomous driving dataset thoroughly. At last, we discuss the benefits and challenges of VLMs in AD, and provide researchers with the current research gaps and future trends. https://github.com/ge25nab/Awesome-VLM-AD-ITS