A procedure for
route planning for a host vehicle, including: Receiving a host vehicle course H HV , a host vehicle speed S HV , of a host vehicle location L HV , from environmental information E and a respective
obstacle course H VO , an obstacle velocity Svo and an obstacle location Lvo for each obstacle within a predetermined
radius around the host vehicle; Calculating one or more projected host vehicle locations L i using L i = f k1 (i, L HV , H HV , H DEV , S HV , S DEV , T H , E, G), where f k1 a first kinematic function for generating one or more projected host vehicle locations L i is, i is a
step number, H DEV and S DEV Permissible deviations for the host vehicle direction H HVor the host vehicle speed S HV are, T H a
hypothesis time step and G is a goal; Calculating a respective projected obstacle position O i for each obstacle using O i = f k2 (i, Lvo, Hvo, Svo, T H , E), where f k2 a second kinematic function to generate the respective projected obstacle position O i for every obstacle; Determining a respective collision potential between each projected host vehicle location L i and each projected obstacle location O i , where each collision potential corresponds to a respective projected host vehicle location L i is connected; and until a predetermined maximum number of steps i max is reached, and while at least one projected host vehicle location L i a qualified projected host vehicle location L iis, which is a projected host vehicle location L i is defined where each of its associated collision potentials is below a collision threshold, repeat the steps: Incrementing
step number i; Repeat the calculation step for each qualified projected host vehicle location L i , to add one or more additional planned host vehicle locations L i to generate, whereby the respective qualified projected host vehicle location for L HV is used Repeat the calculation step to add an additional projected obstacle location O i to generate for each respective obstacle, using the current projected obstacle location for Lvo for each respective obstacle, and Repeat the determination step between each additional projected host vehicle position L iand each additional projected obstacle position O i , furthermore comprehensively, as part of the calculation step: Adjusting the host vehicle speed S HV up to S DEV at each of the one or more projected host vehicle positions according to one or more predefined speed profiles.