The invention discloses an autonomous decision in a traffic situation with planning control. A control device for generating manoeuvring decisions for an ego-vehicle in a traffic scenario is presented. The control device comprises a first module comprising a trained self-learning model, the first module being configured to receive data comprising information about a surrounding environment of theego-vehicle determine, by means of the trained self-learning model, an action to be executed by the ego-vehicle based on the received data. The control device further comprises a second module configured to receive the determined action, receive data comprising information about the surrounding environment of the ego-vehicle during a finite time horizon, predict an environmental state for a firsttime period of the finite time horizon, determine a trajectory for the ego-vehicle based on the received action for the finite time horizon and on the predicted environmental state for the first timeperiod, send a signal in order to control the ego-vehicle according to the determined trajectory during the first time period.
AUTONOMOUS DECISION IN TRAFFIC SITUATION WITH PLANNING CONTROL