VEHICULAR DRIVING ASSIST SYSTEM WITH TRAJECTORY PLANNING FOR COLLISION AVOIDANCE

A vehicular driving assist system, includes a sensor disposed at a vehicle equipped with the vehicular driving assist system and sensing exterior of the vehicle that captures sensor data. The vehicular driving assist system detects, responsive to processing at an ECU of sensor data captured by the sensor, an object in the field of sensing. The vehicular driving assist system determines, based at least in part on detecting the object, a plurality of waypoints that represents a reference trajectory of the vehicle. The vehicular driving assist system determines, for each waypoint of the plurality of waypoints, a constraint with respect to the detected object. The vehicular driving assist system adjusts, based at least in part on the constraints with respect to the detected object, the reference trajectory of the vehicle to determine an updated trajectory of the vehicle.