> For the complete documentation index, see [llms.txt](https://rocape.gitbook.io/selfdrivingen/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://rocape.gitbook.io/selfdrivingen/chap7.md).

# CHAPTER 7 Getting started with Autonomous Driving Planning

This chapter will focus on the planning layer of autonomous vehicle systems which consists of three layers: Task planning, Behavior planning and Motion planning. Task planning is also called as path planning, in task planning, A\* algorithm as a discrete space search algorithm is primarily used to solve the problem of optimal path search in discrete space. Behavior planning is a core part of behavior planning for autonomous vehicle systems. The Finite-State Machine (FSM) and Hierarchical Finite-State Machine are often used to design a behavioral decision model. In order to make the motion planning easier to understand, a series methods of spline interpolation will be illustrated.

**Representation of a directed graph**

![image-20221003004557614](https://2517935580-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2F9IJOmiMe36QkTuFEYwlR%2Fuploads%2Fgit-blob-e8d9a2882f3527cab665f36c2e616b57ef3eb11b%2Fimage-20221003004557614.png?alt=media)

**A grid is a directed graph**

![image-20221003004623276](https://2517935580-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2F9IJOmiMe36QkTuFEYwlR%2Fuploads%2Fgit-blob-e272038809b846853257d916368eb9b192b7b417%2Fimage-20221003004623276.png?alt=media)

**Breadth-First Algorithm (BFS)**

![image-20221003004645332](https://2517935580-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2F9IJOmiMe36QkTuFEYwlR%2Fuploads%2Fgit-blob-bc9244caa3c8ea7979de39190e1d328563d2a837%2Fimage-20221003004645332.png?alt=media)

**\[TO DO: The detail of the methods]**