mlsanityData to 7 Oct 2026

Decision-Making Technology for Autonomous Vehicles Learning-Based Methods, Applications and Future Outlook

arXiv 2107.01110 ↗First posted 2 Jul 2021cs.RO cs.AIcited by 14

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Abstract (arXiv)

Autonomous vehicles have a great potential in the application of both civil and military fields, and have become the focus of research with the rapid development of science and economy. This article proposes a brief review on learning-based decision-making technology for autonomous vehicles since it is significant for safer and efficient performance of autonomous vehicles. Firstly, the basic outline of decision-making technology is provided. Secondly, related works about learning-based decision-making methods for autonomous vehicles are mainly reviewed with the comparison to classical decision-making methods. In addition, applications of decision-making methods in existing autonomous vehicles are summarized. Finally, promising research topics in the future study of decision-making technology for autonomous vehicles are prospected.

Key facts. Cited by 14 papers in the map (data through 7 Oct 2026). Builds on 18 of its 64 references that are in the map. First posted on arXiv 2 Jul 2021.

Builds on

18 of 64 references.

References · 18

  1. 2016End to End Learning for Self-Driving Carscited by 1,000
  2. 2017End-to-end Driving via Conditional Imitation Learningcited by 479
  3. 2019A Survey of Autonomous Driving: Common Practices and Emerging Technologiescited by 373
  4. 2019INTERACTION Dataset: An INTERnational, Adversarial and Cooperative moTION Dataset in Interactive Driving Scenarios with Semantic Mapscited by 231
  5. 2015DeepDriving: Learning Affordance for Direct Perception in Autonomous Drivingcited by 229
  6. 2019Self-Driving Cars: A Surveycited by 147
  7. 2019The inD Dataset: A Drone Dataset of Naturalistic Road User Trajectories at German Intersectionscited by 137
  8. 2016Game-Theoretic Modeling of Driver and Vehicle Interactions for Verification and Validation of Autonomous Vehicle Control Systemscited by 24
  9. 2020Risk-Aware High-level Decisions for Automated Driving at Occluded Intersections with Reinforcement Learningcited by 19
  10. 2019A Review of Tracking, Prediction and Decision Making Methods for Autonomous Drivingcited by 17
  11. 2020Reinforcement Learning with Uncertainty Estimation for Tactical Decision-Making in Intersectionscited by 15
  12. 2021Addressing Inherent Uncertainty: Risk-Sensitive Behavior Generation for Automated Driving using Distributional Reinforcement Learningcited by 13
6 more
  1. 2019Interactive Decision Making for Autonomous Vehicles in Dense Trafficcited by 11
  2. 2017LIDAR-based Driving Path Generation Using Fully Convolutional Neural Networkscited by 6
  3. 2019Behavior Planning of Autonomous Cars with Social Perceptioncited by 6
  4. 2020Decision-Making for Automated Vehicles Using a Hierarchical Behavior-Based Arbitration Schemecited by 3
  5. 2020A New Approach for Tactical Decision Making in Lane Changing: Sample Efficient Deep Q Learning with a Safety Feedback Rewardcited by 3
  6. 2020A Multi-State Social Force Based Framework for Vehicle-Pedestrian Interaction in Uncontrolled Pedestrian Crossing Scenarioscited by 1

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Citing papers per year: 2022: 1; 2023: 3; 2024: 5; 2025: 5.

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  1. 2023Transformer-Based Autonomous Driving Models and Deployment-Oriented Compression: A Surveycited by 8
  2. 2024Large Language Model guided Deep Reinforcement Learning for Decision Making in Autonomous Drivingcited by 8
  3. 2023Autonomous particlescited by 3
  4. 2025AUPO -- Abstracted Until Proven Otherwise: A Reward Distribution Based Abstraction Algorithmcited by 3
  5. 2023Data and Knowledge for Overtaking Scenarios in Autonomous Drivingcited by 2
  6. 2024Building Decision Making Models Through Language Model Regimecited by 2
  7. 2022Graph Convolution-Based Deep Reinforcement Learning for Multi-Agent Decision-Making in Mixed Traffic Environmentscited by 1
  8. 2024Adaptive Decision-Making for Autonomous Vehicles: A Learning-Enhanced Game-Theoretic Approach in Interactive Environmentscited by 1
  9. 2024Demystifying the Physics of Deep Reinforcement Learning-Based Autonomous Vehicle Decision-Makingcited by 0
  10. 2024Maneuver Decision-Making with Trajectory Streams Prediction for Autonomous Vehiclescited by 0
  11. 2025Socially-Aware Autonomous Driving: Inferring Yielding Intentions for Safer Interactionscited by 0
  12. 2025CoMoCAVs: Cohesive Decision-Guided Motion Planning for Connected and Autonomous Vehicles with Multi-Policy Reinforcement Learningcited by 0
2 more
  1. 2025Control Analysis and Design for Autonomous Vehicles Subject to Imperfect AI-Based Perceptioncited by 0
  2. 2025Cooperative Autonomous Driving in Diverse Behavioral Traffic: A Heterogeneous Graph Reinforcement Learning Approachcited by 0