An Overview of Decision-Making in Autonomous Vehicles

In this review we have surveyed the literature on the autonomous vehicle focusing on the decision-making architecture. The main contribution of this paper is to provide an upto-date reference that tries to cover as much as possible this broad topic rapidly. Therefore, after analyzing the body of literature, we were able to present a detailed overview of the usual anatomy of the decision-making system, review the coverage of public reviews and surveys available around the topic, present the environment and vehicle representation, and showcase the literature through: trajectory planning, risk- uncertainty assessment, and mimicking human behaviour mainly using perception-based methods. We also classified the literature according to scenarios covered, action-space used, and whether or not they emphasize the time horizon or frequency or time-step. Copyright (c) 2023 The Authors.