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The growing variety and complexity of marine research and application oriented tasks requires unmanned surface vehicles (USVs) to operate fully autonomously over long time horizons even in environments with significant civilian traffic. In order to address this challenge, we have developed a lattice-based 5D trajectory planner for USVs. The planner estimates collision risk and reasons about the availability of contingency maneuvers to counteract unpredictable behaviors of civilian vessels. The planner also incorporates avoidance behaviors of the vessels into the search for a dynamically feasible trajectory to minimize collision risk. In order to be computationally efficient, it dynamically scales the control action primitives of a trajectory based on the distribution and concentration of civilian vessels while preserving the dynamical feasibility of the primitives. We present a novel congestion metric to compare the …