| CPC B60W 30/18159 (2020.02) [B60W 30/18063 (2013.01); B60W 30/181 (2013.01); B60W 30/18154 (2013.01); B60W 2554/4041 (2020.02); B60W 2554/4045 (2020.02); B60W 2555/60 (2020.02)] | 19 Claims |
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1. A vehicle, comprising:
at least one computer-readable medium storing computer-executable instructions;
at least one processor communicatively coupled to the at least one computer-readable medium and configured to execute the computer executable instructions, the execution carrying out operations including:
assigning identifications to tracks, wherein the tracks correspond to agents observed by the vehicle on approach to a multiway stop intersection;
re-assigning an identification of a young track to an identification of a stale track when the young track matches the stale track, wherein the young track is determined to match the stale track based on one or more factors;
determining an earliest time of appearance of agents based on the identifications and in view of perception obscured areas, wherein the earliest time of appearance of agents is determined at a perception obscured area by observing that a first agent arrives at a respective stopping area of the multiway stop intersection prior to the vehicle, and the stopping area is obscured continuously for a period of time from when the vehicle first reaches its respective stopping area until an observation of a young track associated with the first agent;
determining a precedence order for navigation through the intersection based on local rules, the identifications, and the earliest time of appearance of agents, wherein the agents are classified as one of a prior agent, a concurrent agent, or a subsequent agent relative to a time when the vehicle reaches a stopping location; and
causing the vehicle to proceed through the multiway stop intersection in accordance with the precedence order, wherein the local rules determine a procession of agents through the multiway stop intersection.
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