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It investigates the different categories of planning algorithms within the scope of local trajectory planning applications for autonomous driving, discussing and differentiating their properties in detail through a review of the recent studies. The risk estimation methods are classified and introduced based on their descriptions of the sensed collision risks in traffic environments and their integration with trajectory planning algorithms. Additionally, various user experience-oriented methods, which utilize human data to enhance the trajectory planning performance and generate human-like trajectories, are explored. The paper provides comparative analyses of these algorithms and methods from different perspectives, revealing the interconnections between these topics. The current challenges and future prospects of the trajectory planning tasks in autonomous vehicles are also discussed.<\/jats:p>","DOI":"10.3390\/s24154808","type":"journal-article","created":{"date-parts":[[2024,7,24]],"date-time":"2024-07-24T14:55:47Z","timestamp":1721832947000},"page":"4808","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":22,"title":["A Survey of Autonomous Vehicle Behaviors: Trajectory Planning Algorithms, Sensed Collision Risks, and User Expectations"],"prefix":"10.3390","volume":"24","author":[{"ORCID":"https:\/\/orcid.org\/0009-0000-3721-2275","authenticated-orcid":false,"given":"Taokai","family":"Xia","sequence":"first","affiliation":[{"name":"School of Automotive Studies, Tongji University, Shanghai 201804, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Hui","family":"Chen","sequence":"additional","affiliation":[{"name":"School of Automotive Studies, Tongji University, Shanghai 201804, China"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"1968","published-online":{"date-parts":[[2024,7,24]]},"reference":[{"key":"ref_1","unstructured":"Bohm, F., and H\u00e4ger, K. 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