  Planning is an essential topic in the realm of automated driving. Besides
planning algorithms that are widely covered in the literature, planning
requires different software tools for its development, validation, and
execution. This paper presents a survey of such tools including map
representations, communication, traffic rules, open-source planning stacks and
middleware, simulation, and visualization tools as well as benchmarks. We start
by defining the planning task and different supporting tools. Next, we provide
a comprehensive review of state-of-the-art developments and analysis of
relations among them. Finally, we discuss the current gaps and suggest future
research directions.
