| CPC G08G 5/80 (2025.01) [G08G 5/21 (2025.01); G08G 5/55 (2025.01); G08G 5/59 (2025.01); G08G 5/723 (2025.01)] | 20 Claims |
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1. A system for detecting and avoiding conflict along a current route of a vehicle, the system comprising:
a memory configured to store computer-readable program code; and
processing circuitry configured to access the memory, and execute the computer-readable program code to cause the system to at least:
access or determine trajectories of the vehicle and a plurality of nearby moving objects, the trajectories being determined forward in time from respective current positions of the vehicle and the plurality of nearby moving objects;
predict, from a comparison of the trajectories, one or more conflicts between the vehicle and corresponding ones of the nearby moving objects;
determine a most-imminent conflict from the one or more conflicts based on a set of predefined prioritization rules;
select a maneuver to avoid the most-imminent conflict, including:
determine, based on the most-imminent conflict, a set of maneuvers, each of the maneuvers in the set comprising a maneuver direction and magnitude of heading change, calculated to maneuver the vehicle away from the current route to thereby avoid the most-imminent conflict;
evaluate the set of maneuvers by sorting the set of maneuvers based on maneuver directions and increasing magnitude of heading change; and
select, based on predefined right-of-way rules, the maneuver to avoid the most-imminent conflict, wherein the maneuver direction of the selected maneuver complies with the predefined right-of-way rules;
output the selected maneuver on a user interface; and
perform the selected maneuver by controlling the vehicle based on outputting the selected maneuver.
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