This thesis aims to achieve a better understanding about trajectory and path planning in self-driving. The author participated to the Bosch Future Mobility Challenge 2022 (BFMC 2022), a challenge proposed by Bosch Romania in which students are asked to develop autonomous driving and connectivity algorithms on 1 : 10 scaled vehicles. In the competition, the car must perform specific tasks: lane follow, lane keeping, intersection detection, traffic sign and traffic light recognition, parking manoeuvre, overtake manoeuvre, object detection, trajectory and path planning based on graphs and GPS connection. At the beginning, all members of the team worked together to make the vehicle able to fulfill the first 6 tasks.