1. A method of generating a trajectory for navigating an autonomous vehicle (101), the
method comprising:
detecting, by a trajectory generating system (107) associated with an autonomous vehicle, one or more Points of Interest (POIs) for a selected segment, on a pre-generated navigation path, in real-time, wherein the selected segment is at a predefined distance from current position of the autonomous vehicle (101);
determining, by the trajectory generating system (107), features of each of the one or more POIs, wherein the features comprises at least one of, one or more parameter values and a corresponding priority value;
generating, by the trajectory generating system (107), a first level trajectory for the selected segment at an end portion of previously generated trajectory based on the features of each of the one or more POIs proximal to the selected segment, in real-time; and
generating, by the trajectory generating system (107), a second level trajectory for one or more portions of the first level trajectory beginning from the current position of the autonomous vehicle (101), by modifying each of the one or more portions of the first level trajectory based on real-time environment data (213).
2. The method as claimed in claim 1 further comprises providing, by the trajectory generating system (107), the second level trajectory to a navigation module (115) associated with the trajectory generating system (107) to determine a command velocity for navigating the autonomous vehicle (101).
3. The method as claimed in claim 1, wherein the first level trajectory is generated by mapping the features of each of the one or more POIs with a pretrained decision tree, wherein the first level trajectory is generated consecutively extending end portion the first level trajectory based on location of the one or more POIs, parallelly when the second level trajectory is being generated in front of the autonomous vehicle (101), wherein extended segment of the first level trajectory is a subsequent first level trajectory on the pre-generated navigation path.

4. The method as claimed in claim 1, wherein the one or more POIs are detected using a map database (103) associated with the trajectory generating system (107), comprising a plurality of annotated vectors related to infrastructure information, wherein the one or more POIs comprise at least one of sign boards, symbols and images related to infrastructure information along the pre-generated navigation path, wherein each of the one or more POIs is associated with corresponding one or more parameters.
5. The method as claimed in claim 1, wherein the priority value is directly proportional to impact of corresponding one or more POIs on velocity-position trajectory plan of the autonomous vehicle (101), wherein the priority value is pre-determined based on impact of the corresponding one or more POIs on navigation of the autonomous vehicle (101), and the one or more parameter values are determined using a map database (103) associated with the trajectory generating system (107).
6. A trajectory generating system (107) for generating a trajectory for navigating an autonomous vehicle (101), the trajectory generating system (107) comprising:
a processor (109); and
a memory (113) communicatively coupled to the processor (109), wherein the memory (113) stores the processor-executable instructions, which, on execution, causes the processor (109) to:
detect one or more Points of Interest (POIs) for a selected segment, on a pre-generated navigation path, in real-time, wherein the selected segment is at a predefined distance from current position of the autonomous vehicle (101);
determine features of each of the one or more POIs, wherein the features comprises at least one of, one or more parameter values and a corresponding priority value;
generate a first level trajectory for the selected segment at an end portion of previously generated trajectory based on the features of each of the one or more POIs proximal to the selected segment, in real-time; and
generate a second level trajectory for one or more portions of the first level trajectory beginning from the current position of the autonomous vehicle (101), by modifying each of the one or more portions of the first level trajectory based on real-time environment data (213).

7. The trajectory generating system (107) as claimed in claim 10, wherein the processor (109) is further configured to provide by the trajectory generating system (107), the second level trajectory to a navigation module (115) associated with the trajectory generating system (107) to determine a command velocity for navigating the autonomous vehicle (101).
8. The trajectory generating system (107) as claimed in claim 10, wherein the processor (109) generates the first level trajectory by mapping the features of each of the one or more POIs with a pretrained decision tree, wherein the processor (109) generates the first level trajectory consecutively extending end portion of the first level trajectory based on location of the one or more POIs, parallelly when the second level trajectory is being generated in front of the autonomous vehicle (101), wherein extended segment of the first level trajectory is a subsequent first level trajectory on the pre-generated navigation path.
9. The trajectory generating system (107) as claimed in claim 10, wherein the processor (109) detects the one or more POIs using a map database (103) associated with the trajectory generating system (107), comprising a plurality of annotated vectors related to infrastructure information, wherein the one or more POIs comprise at least one of sign boards, symbols and images related to infrastructure information along the pre-generated navigation path, wherein each of the one or more POIs is associated with corresponding one or more parameters.
10. The trajectory generating system (107) as claimed in claim 10, wherein the priority value is directly proportional to impact of corresponding one or more POIs on velocity-position trajectory plan of the autonomous vehicle (101), wherein the priority value is pre-determined based on impact of the corresponding one or more POIs on navigation of the autonomous vehicle (101), and the processor (109) determines the one or more parameter values using a map database (103) associated with the trajectory generating system (107).