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Autonomous vehicles (AVs) have now drawn significant attentions in academic and industrial research because of various advantages such as safety improvement, lower energy and fuel consumption, exploitation of road network, reduced traffic congestion and greater mobility. In critical decision making process during motion of an AV, intelligent motion planning takes an important and challenging role for obstacle avoidance, searching for the safest path to follow, generation of suitable behavior and comfortable trajectory generation by optimization while keeping road boundaries and traffic rules as important concerns. An AV should also be able to decide the safest behavior (such as overtaking in case of highway driving) at each moment during driving. The behavior planning techniques anticipate the behaviors of all traffic participants; then it reasonably decides the best and safest behavior for AV. For this highly …