A motion planning method of operation in a processor-based system to perform motion planning via planning lattices, where each planning lattice respectively comprises a plurality of nodes and edges, each node representative of a state of a primary vehicle which operates in an environment that includes one or more other vehicles and other obstacles, and each edge representative of a transition between a respective pair of the nodes, the method comprising: representing, by the processor-based system, the primary vehicle as a respective oriented bounding box; representing, by the processor-based system, at least one other obstacle as a representation of a curve in the form of a spline, a b-spline, or a polynomial; and for at least one of a plurality of the edges of the planning lattice, performing, by the processor-based system, oriented bounding box collision detection to determine whether the primary vehicle represented by the oriented bounding box will collide with representations of other vehicles or other obstacles in transitioning between a pair of states, the state of the pair represented by respective nodes of a pair of nodes that are connected by the respective edge of the planning lattice, wherein performing oriented bounding box collision detection to determine whether the primary vehicle represented by a respective oriented bounding box collides with other vehicles or other obstacles includes performing oriented bounding box-curve collision detection to determine whether the respective oriented bounding box that represents the primary vehicle will collide with the curve that represents the at least one of the other obstacles in transitioning between the pair of states represented by respective nodes that are connected by the respective edge of the planning lattice; and setting, by the processor-based system, a cost of the respective edge of a planning lattice to reflect at least one of the detected collision or absence thereof. representing, by the processor-based system, the primary vehicle as a respective oriented bounding box; representing, by the processor-based system, at least one other obstacle as a representation of a curve in the form of a spline, a b-spline, or a polynomial; and for at least one of a plurality of the edges of the planning lattice, performing, by the processor-based system, oriented bounding box collision detection to determine whether the primary vehicle represented by the oriented bounding box will collide with representations of other vehicles or other obstacles in transitioning between a pair of states, the state of the pair represented by respective nodes of a pair of nodes that are connected by the respective edge of the planning lattice, wherein performing oriented bounding box collision detection to determine whether the primary vehicle represented by a respective oriented bounding box collides with other vehicles or other obstacles includes performing oriented bounding box-curve collision detection to determine whether the respective oriented bounding box that represents the primary vehicle will collide with the curve that represents the at least one of the other obstacles in transitioning between the pair of states represented by respective nodes that are connected by the respective edge of the planning lattice; and setting, by the processor-based system, a cost of the respective edge of a planning lattice to reflect at least one of the detected collision or absence thereof. performing, by the processor-based system, oriented bounding box collision detection to determine whether the primary vehicle represented by the oriented bounding box will collide with representations of other vehicles or other obstacles in transitioning between a pair of states, the state of the pair represented by respective nodes of a pair of nodes that are connected by the respective edge of the planning lattice, wherein performing oriented bounding box collision detection to determine whether the primary vehicle represented by a respective oriented bounding box collides with other vehicles or other obstacles includes performing oriented bounding box-curve collision detection to determine whether the respective oriented bounding box that represents the primary vehicle will collide with the curve that represents the at least one of the other obstacles in transitioning between the pair of states represented by respective nodes that are connected by the respective edge of the planning lattice; and setting, by the processor-based system, a cost of the respective edge of a planning lattice to reflect at least one of the detected collision or absence thereof.