Navigating in space
Introduction to autonomous navigation techniques for intelligent vehicles

The decision stage consists of setting an intermediate objective for the vehicle, consistent with the current situation and the overall objective. This is usually formulated semantically in the form of maneuvers such as staying in the lane, changing lanes, overtaking another vehicle, yielding the right of way, stopping at a stop sign, approaching a kerb, performing a parking maneuver, etc. This reduces the range of possibilities, and therefore the complexity of calculations in the planning stage (detailed in section 4.2