Milestones in Autonomous Driving and Intelligent Vehicles—Part II: Perception and Planning

A growing interest in autonomous driving (AD) and intelligent vehicles (IVs) is fueled by their promise for enhanced safety, efficiency, and economic benefits. While previous surveys have captured progress in this field, a comprehensive and forward-looking summary is needed. Our work fills this gap through three distinct articles. The first part, a “survey of surveys” (SoS), outlines the history, surveys, ethics, and future directions of AD and IV technologies. The second part, “Milestones in AD and IVs Part I: Control, Computing System Design, Communication, high-definition map (HD map), Testing, and Human Behaviors” delves into the development of control, computing system, communication, HD map, testing, and human behaviors in IVs. This part, the third part, reviews perception and planning in the context of IVs. Aiming to provide a comprehensive overview of the latest advancements in AD and IVs, this work caters to both newcomers and seasoned researchers. By integrating the SoS and Part I, we offer unique insights and strive to serve as a bridge between past achievements and future possibilities in this dynamic field.