Motion planning of an autonomous vehicle, motion planning system and vehicle with a motion planning system

A motion planning system comprising:

• at least one processor;
• and
• at least on memory storing instructions that, when executed by the at least one processor causes the motion planning system to:
• determine a plurality of configuration samples through a configuration space using a sampling-based algorithm,
• wherein the configuration space represents surroundings of a vehicle,
• wherein the configuration samples are determined in predefined sampling steps,
• wherein a sequence of the configuration samples defines a possible trajectory or path of the vehicle in the configuration space, and
• wherein the configuration samples in each sampling step are determined in parallel by using at least one graphics processing unit of the motion planning system;
• calculate sequences of the configuration samples from the configuration samples by predefined motion criteria;
• and
• output the sequences of the configuration samples as vehicle trajectories for moving the vehicle in the surroundings of the vehicle.