# Overview of Tools Supporting Planning for Automated Driving

arXiv: https://arxiv.org/abs/2003.04081 · HTML: https://mlsanity.com/paper/2003.04081/

## Key facts

- Cited by 3 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 9 Mar 2020.

## Built on by (most cited first, 3 of 3)

- [Milestones in Autonomous Driving and Intelligent Vehicles: Survey of Surveys](https://mlsanity.com/paper/2303.17220/) (2023)
- [Investigating Driving Interactions: A Robust Multi-Agent Simulation Framework for Autonomous Vehicles](https://mlsanity.com/paper/2402.04720/) (2024)
- [MultiDrive: A Co-Simulation Framework Bridging 2D and 3D Driving Simulation for AV Software Validation](https://mlsanity.com/paper/2505.13959/) (2025)

## Abstract (arXiv)

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.