 Depending on the online selected strategy, a set of time-varying hyperplanes in the AV's motion space is generated and included in the lower level control.
<clarity>  Depending on the online selected strategy, a set of time-varying hyperplanes in the AV's motion space is generated and included in the lower level control.
 Depending on the online selected strategy, a set of time-varying hyperplanes in the AV's position space is generated and included in the lower level control.