Obstacle avoidance path planning in a dynamic circumstance is one of the fundamental problems of autonomous vehicles. counting optional maneuvers: emergency braking and active steering. This paper proposes emergency obstacle avoidance planning based on deep reinforcement learning (DRL). considering safety and comfort. https://www.diegojavierfares.com/amazing-price-Kicker-48CDF104-Comp-10-Down-Firing-Loaded-Subwoofer-Enclosure-special-find/