ABSTRACT In the recent years the automotive industry is in a revolution towards the electrified and intelligence mobility. The autonomous driving, which is the possible solution for the traffic congestion, accidents, and emission issues, is quickly becoming one of the hottest topics in the automotive field. However, the technology is still not mature enough for commercialization due to several technical challenges. The trajectory planning is one of them. Many researches regarding the trajectory planning have already been developed in the robotic field, however when it comes to the automotive field, it becomes extremely challenging due to the critical requirements on the system’s real-time performance and on the trajectory generation with multi-objective optimization(Collision avoidance, occupant’s comfort, fuel economy, etc).