METHOD AND A SYSTEM FOR DETERMINING A TRAJECTORY FOR A VEHICLE

A method and an apparatus for determining a target trajectory for a vehicle. The method comprises determining a respective score for each one of a plurality of trajectory candidates for the vehicle from a current ego pose to a target ego position and for each trajectory candidate, generating one or more adjustment scores, the one or more adjustment score. The method further comprises determining, based on the respective score and the plurality of adjustment scores, a modified respective score for each trajectory candidate, ranking the plurality of trajectory candidates according to the modified respective scores and selecting, from the ranked trajectory candidates, a top trajectory candidate as being the target trajectory for navigating the vehicle from the current to the target ego positions. This may help address the problem of causal confusion, thereby allowing for better safety of the trajectories.