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Cited by 972Autonomous Vehicle Technology and SafetyRobotic Path Planning AlgorithmsAI-based Problem Solving and Planning

Planning and Decision-Making for Autonomous Vehicles

Open access
Schwarting, Wilko, Alonso-Mora, Javier, Rus, Daniela·2018·Annual Review of Control, Robotics, and Autonomous Systems
DOI 10.1146/annurev-control-060117-105157
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Abstract

In this review, we provide an overview of emerging trends and challenges in the field of intelligent and autonomous, or self-driving, vehicles. Recent advances in the field of perception, planning, and decision-making for autonomous vehicles have led to great improvements in functional capabilities, with several prototypes already driving on our roads and streets. Yet challenges remain regarding guaranteed performance and safety under all driving circumstances. For instance, planning methods that provide safe and system-compliant performance in complex, cluttered environments while modeling the uncertain interaction with other traffic participants are required. Furthermore, new paradigms, such as interactive planning and end-to-end learning, open up questions regarding safety and reliability that need to be addressed. In this survey, we emphasize recent approaches for integrated perception and planning and for behavior-aware planning, many of which rely on machine learning. This raises the question of verification and safety, which we also touch upon. Finally, we discuss the state of the art and remaining challenges for managing fleets of autonomous vehicles.

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Authors
Schwarting, W., Alonso-Mora, J., & Rus, D.
Affiliations
  • MIT Computer Science and Artificial Intelligence Laboratory (US)
  • Department of Cognitive Robotics, Delft University of Technology, 2628 Delft, The Netherlands;
ORCID
Venue
Annual Review of Control, Robotics, and Autonomous Systems
Publisher
Annual Reviews
Published
2018-05-28
Volume
1
Issue
1
Pages
187-210
ISSN
2573-5144 (ISSN-L)
DOI
10.1146/annurev-control-060117-105157
OpenAlex
W2783963507
Cited by
972
References
126
Citations by year
2026: 98 · 2025: 142 · 2024: 137 · 2023: 146 · 2022: 139 · 2021: 120 · 2020: 104 · 2019: 74 · 2018: 12
FWCI
6.18
Type
journal article
Language
en
Open access
Locations
  • Annual Review of Control Robotics and Autonomous Systems (publishedVersion)
  • Research Repository (Delft University of Technology) (submittedVersion)
  • Data Archiving and Networked Services (DANS) (submittedVersion, other-oa)
Funders
Toyota Research Institute
Topics
  • Physical Sciences › Engineering › Automotive Engineering › Autonomous Vehicle Technology and Safety
  • Physical Sciences › Computer Science › Computer Vision and Pattern Recognition › Robotic Path Planning Algorithms
  • Physical Sciences › Computer Science › Artificial Intelligence › AI-based Problem Solving and Planning
Keywords
autonomous vehicles, motion planning, decision-making, interactive planning, end-to-end learning, safety verification, fleet management

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