Efficient trajectory planning for urban intersections is currently one of the most challenging tasks for an Autonomous Vehicle (AV). Courteous behavior towards other traffic participants, the AVs comfort and its progression in the environment are the key aspects that determine the performance of trajectory planning algorithms. To capture these aspects, we propose a novel trajectory planning framework that ensures social compliance and simultaneously optimizes the AVs comfort subject to kinematic constraints. The framework combines a local continuous optimization approach and an efficient driver model to ensure fast behavior prediction, maneuver generation and decision making over long horizons. The proposed framework is evaluated in different scenarios to demonstrate its capabilities in terms of the resulting trajectories and runtime.
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