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Planning and Control in Autonomous Driving (with Prediction and Decision)
}Autonomous vehicle system
}Decision, planning and control
}Route planning (Mission planner)
}Behavior layer (Decision maker)
◦Machine learning-based
◦Model-based
◦Motion modeling
◦Obstacle prediction
◦Risk Assessment
}Motion planning (Local planner)
◦Variational methods
◦Incremental tree-based methods
◦Combinatorial planning
◦Sampling-based planning
◦Rapidly exploring random trees (RRTs)
◦Lattice Planners
}Vehicle control
◦Classical control
◦Model predictive control
Trajectory generation and tracking
Geometric methods
Model based methods
}Ontology in autonomous driving
◦General ontologies
◦Domain and application ontologies