to cope with the requirements of a race scenario, we propose a far-sighted two step, multi-
layered graph-based trajectory planner, capable to run with speeds up to 212 km/h. The
planner is designed to generate an action set of multiple drivable trajectories, allowing an
adjacent behavior planner to pick the most appropriate action for the global state in the
scene. This method serves objectives such as race line tracking, following, stopping …