Method of trajectory planning for yielding manoeuvres

The present disclosure relates to a method of trajectory planning for yielding manoeuvres for an ego vehicle (E) comprising the steps of: determining a longitudinal safety corridor for the ego vehicle (E) that allow the ego vehicle (E) to longitudinally position itself in-between two or more surrounding objects (S 1 , ..., S n ); determining a longitudinal trajectory for the ego vehicle (E) respecting the bounds given by the longitudinal safety corridor; determining a lateral safety corridor for the ego vehicle (E) using the longitudinal trajectory to determine upper and lower bounds on the ego vehicle's (E) lateral position; determining a lateral trajectory for the ego vehicle (E) respecting the bounds given by the lateral safety corridor. The present disclosure also relates to an Advanced Driver Assistance System arranged to perform the method and a vehicle (E) comprising such a system.