VEHICULAR COLLISION AVOIDANCE USING COMBINED LATERAL AND LONGITUDINAL TRAJECTORIES

A system and method for generating combined lateral and longitudinal trajectories for vehicular collision avoidance. The system and method include determining, offline from a vehicle, a set of optimized trajectories for the vehicle in avoiding a potential collision with an obstacle, where the set of optimized trajectories include a combined set of lateral and longitudinal vehicular motions that are stored in a database within the vehicle. Within the vehicle, a state estimation of the vehicle is determined and includes fetching, based on the state estimation, within the vehicle, a trajectory from the set of optimized trajectories. Based on the selected trajectory, one or more actuators within the vehicle are engaged, where the one or more actuators generate a simultaneous lateral and longitudinal motion of the vehicle in avoidance of the potential collision with the obstacle.