Cognitive Dual-Process Planning for Autonomous Driving with Structured Scene Knowledge and Verifiable Reasoning-Action Consistency

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.

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…