Behavior planning chooses “follow, stop, yield, or change lanes” between perception and trajectory tracking. This guide explains finite-state machines, cost-based candidates, uncertainty, HD maps, and safety fallbacks.
September 3, 2026 Connected & Autonomous DrivingBehavior planning turns uncertain perception into stop, follow, yield, merge, and lane-change decisions, then constrains path planning and MPC. This primer connects FSMs, behavior trees, POMDPs, current ADAS, safety, and testing.