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In future smart cities supported by cyber-physical social intelligence, autonomous behavioral decision for vehicular agents is going to become a general demand. Despite much progress achieved in autonomous behavioral decision of vehicular agents, the existing works can just be used in scenarios of short-distance behavioral decision. Naturally, they are not well suitable for long-distance behavioral decision tasks, posing much challenge in realistic cyber-physical environment. To bridge the existing gaps, this article proposes an autonomous behavioral decision framework for vehicular agents using cyber-physical social intelligence. First, it is expected to establish a dynamic planning model with multiple objectives and constraints. This can be embedded into the control unit of a vehicular agent to endow it with proper social intelligence. On this basis, an iterative search algorithm is specifically designed for it to find …