Behavior Planning for Autonomous Driving: Methodologies, Applications, and Future Orientation

Abstract

Decision-making is a crucial task for autonomous driving. Taking thewrong decision might cause a cartographical accident. Decision-making impliesplanning the appropriate behavior based on the current state of the vehicle and itsenvironment. The paper aims to review the current state of the art of behaviorPlanning for autonomous driving. A basic categorization for behavior planningalgorithms is introduced. Besides, a review of different algorithms is discussed witha comparison between different algorithms from the point of view of the suitablescenario. Finally, promising research topics are discussed.