| CPC B60W 30/09 (2013.01) [B60W 30/0953 (2013.01); B60W 30/0956 (2013.01); B60W 40/072 (2013.01); B60W 50/0097 (2013.01); B60W 60/0015 (2020.02); B60W 60/0027 (2020.02); B60W 2520/105 (2013.01); B60W 2552/30 (2020.02); B60W 2554/4042 (2020.02); B60W 2555/60 (2020.02)] | 20 Claims |
|
1. A system comprising:
one or more processors; and
one or more non-transitory computer-readable media storing instructions executable by the one or more processors, wherein the instructions, when executed, cause the system to perform operations comprising:
determining, based at least in part on sensor data from a sensor associated with a vehicle, a predicted path of an object through an environment proximate the vehicle;
determining that the predicted path of the object and a planned path of a vehicle trajectory of the vehicle merge at an initial merge location, wherein the initial merge location is within a threshold distance of an intersection of the predicted path of the object and the planned path of the vehicle trajectory;
determining, based at least in part on a vehicle speed, an object speed, and the initial merge location, a threshold time associated with a final merge location, wherein the final merge location is based at least in part on the vehicle speed and the object speed, wherein the threshold time represents an amount of time for the vehicle to travel from a current vehicle location of the vehicle to the final merge location associated with a merge operation, wherein the final merge location represents an overlap between the predicted path and the planned path, wherein the overlap represents a region in which the predicted path and the planned path share a common direction of travel over a same portion of a road, and wherein the vehicle speed of the vehicle is within a threshold speed associated with the object speed of the object;
determining a predicted time for the object to travel from a current object location of the object to the final merge location;
determining an action for the vehicle to perform based at least in part on a difference between the predicted time and the threshold time; and
controlling the vehicle based at least in part on the action, wherein the action comprises at least one of maintain the vehicle trajectory of the vehicle to merge in the common direction of travel as the object or modify the vehicle trajectory of the vehicle to yield to the object.
|