In this paper, we discuss the driving strategy and behavior framework that can significantly
improve the transaction of traffic in roundabout and mobility for autonomous vehicles.
A reference planning layer first generates kinematically on the road. Then a behavioral
planning layer takes conflict points and dynamic obstacles into account, make the
foundation for vehicles interaction and communication. This paper is structured as
follows: Sections I emphasize roundabouts' role and analyze the unique structure and
characteristics. It is responsible for designing a scenario model that is intelligible
for decision-making at roundabouts. A representation based on a multi-level structure
is proposed. Section II proposes the driving behavior action process framework in
a hierarchical architecture,
based on the following structure: Mission - Maneuver - Motion. Section Ⅲ focuses on
an emergency case at the entrance conflict area and shows how the Bezier curve replans
the path in realtime. This ensures safety and traffic rules compliance while offering
generalization capabilities to address new complex scenarios. Conclusions and future
works are proposed in section IV.