System and method for controlling autonomous vehicles

A computer-implemented method for trajectory planning of a plurality of autonomous vehicles, operating within a confined geographical area, the method comprising:

• determining, by processing circuitry of a computer system, positions and trajectories of a plurality of autonomous vehicles within the confined geographical area, determining, by the processing circuitry, that a primary positioning system of at least one autonomous vehicle receives low confidence positioning data or no positioning data, such that the at least one autonomous vehicle is controlled by any one of a degraded primary positioning system and a secondary positioning system;
• determining, by the processing circuitry, and based on a previously determined position by the primary positioning system and the determined trajectory of the at least one autonomous vehicle, that the at least one autonomous vehicle, while being controlled by any one of the degraded primary positioning system and the secondary positioning system, is approaching a predefined geographical zone located within the confined geographical area, the predefined geographical zone having at least one operational restricting condition for the autonomous vehicles;
• and determining, by the processing circuitry, to adapt the trajectory of the at least one autonomous vehicle to an alternative trajectory.