METHODS AND SYSTEMS FOR PERFORMING INTER-TRAJECTORY RE-LINEARIZATION ABOUT AN EVOLVING REFERENCE PATH FOR AN AUTONOMOUS VEHICLE

Disclosed herein are systems, methods, and computer program products for generating a reference path for an autonomous vehicle. The methods comprising: receiving, by a computing device, a reference trajectory for the autonomous vehicle; generating, by the computing device, a first alternative trajectory for the autonomous vehicle based on an objective identified by the reference trajectory; comparing, by the computing device, the first alternative trajectory to the reference trajectory or a previously generated alternative trajectory; selecting, by the computing device, whether to generate a second alternative trajectory based on a result of said comparing; and generating, by the computing device, the second alternative trajectory for the autonomous vehicle in response to said selecting.