We explore the complex design space of behaviour planning for autonomous driving. Design choices that successfully address one aspect of behaviour planning can critically constrain others. To aid the design process, in this work we decompose the design space with respect to important choices arising from the current state of the art approaches, and describe the resulting trade-offs. In doing this, we also identify interesting directions of future work.
@article{arxiv.1908.07931,
title = {Design Space of Behaviour Planning for Autonomous Driving},
author = {Marko Ilievski and Sean Sedwards and Ashish Gaurav and Aravind Balakrishnan and Atrisha Sarkar and Jaeyoung Lee and Frédéric Bouchard and Ryan De Iaco and Krzysztof Czarnecki},
journal= {arXiv preprint arXiv:1908.07931},
year = {2019}
}