Vehicle operation using maneuver generation

Multiple trajectories for a vehicle are generated based on a road segment 1604. Sensor data is received from at least one sensor. The vehicle is traveling the road segment in accordance with a first trajectory of the multiple trajectories 1608. A potential collision is predicted between the vehicle and an object based on the sensor data and the first trajectory 1612. A set of constraints is determined to avoid the potential collision based on the sensor data 1616. A maneuver is determined for the vehicle by superimposing each constraint of the set of constraints on each other constraint of the set of constraints. The maneuver includes a second trajectory independent of the multiple trajectories 1620. Instructions are transmitted to a control circuit of the vehicle to override the first trajectory and traverse the road segment according to the second trajectory to perform the maneuver 1624.