VEHICLE TRAJECTORY PLANNING METHOD AND SYSTEM

The invention relates to a computer-implemented method (5100) for providing trajectories for execution by a vehicle, the computer-implemented method comprising: obtaining (S101) a free-space area in a surrounding environment of the vehicle that is formed based on sensor data output from one or more vehicle-mounted sensors, wherein the obtained free-space area is defined by an edge having one or more edge property classes that are defined by corresponding object classes of objects that define segments of the edge of the obtained free-space area; updating (S102) the obtained free-space area by modifying a size of the obtained free-space area based on the one or more edge property classes; and determining or approving (S109) a vehicle speed for a candidate path within the updated free-space area to be executed by the vehicle, wherein the vehicle speed is determined in dependence of the determined modification of the size of obtained free-space area.