Multi-Agent Autonomous Driving Systems with Large Language Models: A Survey of Recent Advances, Resources, and Future Directions

Autonomous Driving Systems (ADSs) are revolutionizing transportation by reducing human intervention, improving operational efficiency, and enhancing safety. Large Language Models (LLMs) have been integrated into ADSs to support high-level decision-making through their powerful reasoning, instruction-following, and communication abilities. However, LLMbased single-agent ADSs face three major challenges: limited perception, insufficient collaboration, and high computational demands. To address these issues, recent advances in LLMbased multi-agent ADSs leverage languagedriven communication and coordination to enhance inter-agent collaboration. This paper provides a frontier survey of this emerging intersection between NLP and multi-agent ADSs. We begin with a background introduction to related concepts, followed by a categorization of existing LLM-based methods based on different agent interaction modes. We then discuss agent-human interactions in scenarios where LLM-based agents engage with humans. Finally, we summarize key applications, datasets, and challenges to support future research.