SwarmDrive uses local SLMs on vehicles for event-triggered semantic V2V intent sharing and consensus, improving occluded intersection success from 68.9% to 94.1% and cutting latency to 151.4 ms in a 5-seed simulation.
Methodologies of link-level simulator and system-level simulator for C-V2X communication,
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SwarmDrive: Semantic V2V Coordination for Latency-Constrained Cooperative Autonomous Driving
SwarmDrive uses local SLMs on vehicles for event-triggered semantic V2V intent sharing and consensus, improving occluded intersection success from 68.9% to 94.1% and cutting latency to 151.4 ms in a 5-seed simulation.