DYNAMIC, DIVERSE, AND COMPUTATIONALLY EFFICIENT VEHICLE CANDIDATE ACTION GENERATION

A vehicle with a planning system may generate a set of candidate trajectories for controlling the vehicle. The planning system may receive sensor data from sensors. The planning system may determine, based at least in part on the sensor data, environmental data, and/or the vehicle data. The planning system may determine, based at least in part on the environmental data and/or the vehicle data, a set of candidate trajectories corresponding to a set of contemporaneous candidate actions for the vehicle to follow. An individual candidate trajectory in the set is determined by dynamically shifting the individual candidate trajectory by a lateral distance relative to the vehicle or a lane in the environment. A candidate action may indicate a position, orientation, velocity, acceleration, or the like for the vehicle to track to by a certain time or distance.