A Review of Learning-Based Motion Planning: Toward a Data-Driven Optimal Control Approach

摘要

Motion planning for autonomous driving (AD) faces a critical trade-off. While traditional rule-based pipelines offer verifiable safety and interpretability, they often fail to generalize in complex scenarios. Conversely, emerging learning-based methods-including imitation learning (IL), reinforcement learning (RL), and generative AI-offer greater adaptability but are often constrained by opacity and safety risks. Existing surveys typically analyze these AI methods in isolation, overlooking the potential of integrating them with rigorous control frameworks. To bridge this gap, this paper presents the first systematic review of the Data-Driven Optimal Control (DDOC) paradigm, explicitly examining how it synergizes the theoretical guarantees of optimal control with the adaptive capabilities of modern machine learning. Building on this framework, we propose the first roadmap for DDOC-based motion planning, structuring its implementation into three critical dimensions: customization, dynamics adaptation, and self-tuning. Finally, to close the remaining reality gap, we identify four future research directions, thereby accelerating the transition to trustworthy and human-like autonomous driving.