I agree with bizi. Try talking to him about it. It sounds like there is miscommunication somewhere.

Like you said, maybe he doesn't know what's going on because of his poor communication skills. Maybe he thinks he is being a great boyfriend.

Also, as a possibility, he could have anxiety about initiating things. Maybe he's scared of making you feel pressured or pushed into things. Or maybe he doesn't know what you want and is scared of doing something offensive. And people with autism I know can have difficulty interpreting social stuff, so that could play into his possible anxiety, or fuel it.