The planning module in autonomous driving is used to determine the vehicle’s actions. The planning module outputs planning results based on the input perception results, and the planning results will be input into the control module to determine the actual operation of the vehicle. As mentioned earlier, ”perception” is equivalent to the ”eyes” of autonomous driving, then ”planning” is equivalent to the ”brain”, which is a very important module. Section 8.1 first introduces the basic planning theory, divided into three levels, namely task planning, behavior planning, and motion planning; Sect. 8.2 discusses driving behavior modeling and prediction, mainly based on data-driven machine learning methods; Sect. 8.3 extends to the modeling and prediction of pedestrian behavior; finally, Sect. 8.4 discusses how to learn the driving skills of experienced drivers, which is an in-depth discussion of Sect. 8.2.