Abstract: For one embodiment of the present disclosure, a computer implemented method provides deterministic multi-objective constrained optimization for a planning system of an autonomous vehicle (AV). The computer implemented method comprises initializing a planning solver with a plurality of candidate trajectories for an autonomous vehicle, selecting two or more optimal candidate trajectories that potentially satisfy all constraints and evaluating these two or more optimal candidate trajectories in parallel asynchronously using cost functions, determining whether a cost threshold is violated for a node in a temporarily ordered sequence of nodes for a branch of each of the two or more optimal candidate trajectories, and intentionally stopping branch evaluation early for a branch having a cost threshold violation.