Resumen
This work designed a motion planning algorithm for autonomous vehicles in unanticipated obstacle scenarios. In standard driving scenarios, the proposed motion planning algorithm plans a trajectory that complies with intersection regulations, including lane-marking, recommended turning lane, traffic light, right-of-way, and no-parking rules. In unanticipated obstacle scenarios, after the necessity of obstacle avoidance is identified, the ego vehicle would break the rules temporarily to ensure the safety and mobility of autonomous vehicles.