Abstract: A local trajectory-planning algorithm that generates safety and comfort trajectories is described. The obstacles are detected online by receiving cooperative awareness messages (CAMs) and decentralized environmental notification messages (DENMs). Our approach has three main steps. The first step uses a trajectory generation module to generate comfort trajectories. The second step predicts the position and velocity of obstacle vehicles because of transmission delay. The final step chooses a best trajectory to follow by operating the trajectory selection module. A collision probability model is then proposed to help autonomous vehicle make decision. The trajectory-planning algorithm described in this paper was tested on MATLAB, and the simulation results show they are secure and reliable.