METHOD FOR ENUMERATING HOMOTOPIES FOR MANEUVERS USING A HIERARCHY OF TOLERANCE RELATIONS

A method of motion planning and maneuvering of an ego vehicle is described. The method includes determining a plurality of vehicle trajectories during motion planning of the ego vehicle. The method also includes enumerating the plurality of vehicle trajectories associated with a plurality of vehicle maneuvers into a qualitatively equivalent set of vehicle maneuvers. The method further includes performing a vehicle control action according to a selected one of the qualitatively equivalent set of vehicle maneuvers.