Overview of Tools Supporting Planning for Automated Driving
It addresses the need for comprehensive tooling in automated driving planning, which is incremental as it organizes existing knowledge rather than introducing new methods.
This paper surveys software tools supporting planning for automated driving, including map representations, communication, traffic rules, open-source stacks, simulation, visualization, and benchmarks, by reviewing state-of-the-art developments and analyzing their relationships.
Planning is an essential topic in the realm of automated driving. Besides planning algorithms that are widely covered in the literature, planning requires different software tools for its development, validation, and execution. This paper presents a survey of such tools including map representations, communication, traffic rules, open-source planning stacks and middleware, simulation, and visualization tools as well as benchmarks. We start by defining the planning task and different supporting tools. Next, we provide a comprehensive review of state-of-the-art developments and analysis of relations among them. Finally, we discuss the current gaps and suggest future research directions.