Detection ModulePrediction ModuleOccupancy ModuleMapping ModuleNeural ModulesCognitive MemoryNotable objects: Truck at (3.04, 8.03)Potential effects: Truck is decelerating Chain-of-Thoughts ReasoningDriving behavior: change lane to rightVelocity estimation: decelerationDriving plan:  change_lane_to_right_with_decelerationTask PlanningPlanned driving trajectory:[(0.04, 1.26), …, (0.39, 7.39)]  Motion PlanningReasoning EngineRe-planned trajectory after collision check:[(0.04, 1.26), …, (0.39, 7.39)]  [(0.04, 1.26), …, (0.39, 6.21)]  Self-ReflectionText InterfaceMemory Data:-Common sense-ExperienceEnvironmental information:-Detections-Predictions-Occupancy-MapEgo-StatesHistorical TrajectoryRule (1): Avoid collisions with other objects …Rule (N): Maintain a safe distance to the front objectCommonsense MemoryTool Libraryget_leading_object()…get_objects_in_range(r)Detection Functionsget_pred_trajs_for_object(i)…get_waypoint(i, t)Prediction Functionsget_occ_at_loc_time(loc,
ALanguageAgentforAutonomousDriving