Abstract: Systems and methods described herein relate to vehicular navigation. One embodiment generates a polyline reference path for a vehicle; stores a representation of the polyline in a data structure; detects a plurality of obstacles ahead of the vehicle; identifies one or more obstacle gates among the plurality of obstacles using path coordinates relative to the reference path, each obstacle gate including at least one cluster of obstacles; identifies one or more gaps within each of the one or more obstacle gates; determines an obstacle-avoidance path for the vehicle that passes through a particular one of the one or more gaps in each of the one or more obstacle gates; and controls one or more aspects of operation of the vehicle based, at least in part, on the obstacle-avoidance path.

Abstract: Systems and methods described herein relate to vehicular navigation. One embodiment generates a polyline reference path for a vehicle; stores a representation of the polyline in a data structure; detects a plurality of obstacles ahead of the vehicle; identifies one or more obstacle gates among the plurality of obstacles using path coordinates relative to the reference path, each obstacle gate including at least one cluster of obstacles; identifies one or more gaps within each of the one or more obstacle gates; determines an obstacle-avoidance path for the vehicle that passes through a particular one of the one or more gaps in each of the one or more obstacle gates; and controls one or more aspects of operation of the vehicle based, at least in part, on the obstacle-avoidance path.

Abstract: A system includes a computer programmed to identify, from a first vehicle, one or more second vehicles within a specified distance to the first vehicle. The computer is further programmed to receive data about operations of each of the second vehicles, including trajectory data. Based on the data, the computer is programmed to identify, for each of the second vehicles, a distribution of probabilities of each of a set of potential planned trajectories. The computer is further programmed to determine a planned trajectory for the first vehicle, based on the respective distributions of probabilities of each of the set of potential planned trajectories for each of the second vehicles. The computer is further programmed to provide an instruction to at least one controller associated with the first vehicle based on the determined planned trajectory.

Abstract: A system includes a computer programmed to identify, from a first vehicle, one or more second vehicles within a specified distance to the first vehicle. The computer is further programmed to receive data about operations of each of the second vehicles, including trajectory data. Based on the data, the computer is programmed to identify, for each of the second vehicles, a distribution of probabilities of each of a set of potential planned trajectories. The computer is further programmed to determine a planned trajectory for the first vehicle, based on the respective distributions of probabilities of each of the set of potential planned trajectories for each of the second vehicles. The computer is further programmed to provide an instruction to at least one controller associated with the first vehicle based on the determined planned trajectory.