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+# Local Planning for first milestone
+
+**Summary:** This document states the implementation plan for the local planning.
+
+---
+
+## Author
+
+Julius Miller
+
+## Date
+
+03.12.2023
+
+## Research
+
+Paper: [Behavior Planning for Autonomous Driving: Methodologies, Applications, and Future Orientation](https://www.researchgate.net/publication/369181112_Behavior_Planning_for_Autonomous_Driving_Methodologies_Applications_and_Future_Orientation)
+
+![Overview_interfaces](overview_paper1.png)
+
+Rule-based planning
+
+Advantages:
+
+- Simple implementation.
+- Low computational
+power.
+- Real-time operation.
+- Adapt the rationality of
+human thinking.
+- Its behavior can be easily
+traced and explained
+
+Disadvantages:
+
+- Inability to handle
+complex environments.
+- Risk of rules explosion.
+- Inability to handle
+uncertainty.
+- Low ability to handle
+unplanned situations
+
+Paper: [A Rule-Based Behaviour Planner for Autonomous Driving , pp 263 -279](https://link.springer.com/chapter/10.1007/978-3-031-21541-4_17)
+
+- Two-layer rule-based theory
+- Behaviours: Emergency-Stop, Stop, Yield, Decelerate-To-Halt, Pass-Obstacle, Follow-
+Leader, Track-Speed
+
+Github: [Decision Making with Behaviour Tree](https://github.com/kirilcvetkov92/Path-planning?source=post_page-----8db1575fec2c--------------------------------)
+
+![github_tree](BehaviorTree_medium.png)
+
+- No Intersection
+- Collision Detection in behaviour Tree
+
+Paper: [Behavior Trees for
+decision-making in Autonomous
+Driving](https://www.diva-portal.org/smash/get/diva2:907048/FULLTEXT01.pdf)
+
+![Behaviour Tree](BT_paper.png)
+
+- simple simulation
+- Car only drives straight
+
+## New Architecture for first milestone
+
+- Keeping it simple
+- Iterative Progress
+- Divide decisions into high level and low level to keep behaviour tree small.
+
+High Level Decisions:
+
+- Intersection
+- Lane Change
+- Cruise (NoOp)
+- (Overtake - limit for multilane)
+
+Low Level Decision:
+
+- Emergency Brake
+- ACC
+
+![localplan](localplan.png)
+
+Scenarios:
+
+![Intersection](intersection_scenario.png)
+
+Left: Behaviour Intersection is triggered for motion planning, acc publishes speed. -> Lower speed is used to approach intersection
+
+Right: Behaviour Intersection is used for motion planning, acc is ignored (no object in front)
+
+![Overtake](overtaking_scenario.png)
+
+Left: Overtake gets triggered to maintain speed, acc is ignored
+
+Right: Overtake not possible, acc reduces speed to avoid collision
+
+What needs to be done:
+
+- Implement ACC
+- Implement motion planning
+- Change publishers in behaviours (only publish name of task)