| CPC B60W 60/0015 (2020.02) [B60W 30/18163 (2013.01); B60W 2552/10 (2020.02); B60W 2554/801 (2020.02); B60W 2555/60 (2020.02); B60W 2720/106 (2013.01)] | 18 Claims |
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1. An apparatus comprising:
a memory; and
a processor configured to:
detect a first vehicle in a proximate lane of a road and a second vehicle on a shoulder of the road based on sensor data sensed by one or more sensors of an ego vehicle;
identify a first cost of a lane change by the ego vehicle with respect to the first vehicle and a second cost of the lane change by the ego vehicle with respect to the second vehicle on the shoulder;
identify a lateral distance between the second vehicle on the shoulder and a current lane of the ego vehicle;
determine whether or not to perform the lane change based on the identified first and second costs of the lane change by the ego vehicle and further based on the identified lateral distance between the second vehicle on the shoulder and the current lane of the ego vehicle; and
control the ego vehicle based on the determination,
wherein the first cost and the second cost are evaluated at least partially as a function of distance from the first vehicle and of distance from the second vehicle, respectively.
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