A method for controlling a mobile vehicle (2) comprises the step of selecting a control mode for autonomous driving of the mobile vehicle. The control mode includes a first mode (MDR), a second mode (CNS) of which a restriction on a driving safety is stric...

Techniques for optimal trajectory generation for a vehicle are described herein. In some cases, the techniques described herein include determining a first primary trajectory by a first component (e.g., a planner component) of the vehicle, determining a tr...