Abstract: A system and method for controlling a merge vehicle travelling along a highway having a merge lane and a main lane. The method includes receiving merge data about the merge vehicle and a surrounding environment of the merge vehicle. The method includes detecting an intent to perform a merge maneuver by the merge vehicle from the merge lane to the main lane based on the merge data. Further, the method includes generating a graph having a plurality of nodes connected by edges. The plurality of nodes includes a start node set to a current position of the merge vehicle and a goal node located in the main lane after the merge lane has ended. The method includes calculating a three-dimensional (3D) trajectory based on the graph by optimizing edge costs from the start node to the goal node, and controlling the merge vehicle based on the 3D trajectory.

Abstract: A system is provided. The system includes a first vehicle controller , a second vehicle controller, and a remote server. The first vehicle controller is programmed to: a) detect an obstacle, b) activate at least one rear-facing sensor to capture a recording of the obstacle; and c) transmit the recording of the obstacle and a location of the first vehicle. The remote server is programmed to a) determine and store a first location of the obstacle, b) subsequent to storing the first location of the obstacle, c) receive a current location of the second vehicle, and d) compare the current location of the second vehicle to the stored first location of the obstacle. The second vehicle controller is programmed to: a) receive the information about the obstacle and b) adjust operation of the second vehicle to avoid the obstacle.

Abstract: A system and method for controlling a merge vehicle travelling along a highway having a merge lane and a main lane. The method includes receiving merge data about the merge vehicle and a surrounding environment of the merge vehicle. The method includes detecting an intent to perform a merge maneuver by the merge vehicle from the merge lane to the main lane based on the merge data. Further, the method includes generating a graph having a plurality of nodes connected by edges. The plurality of nodes includes a start node set to a current position of the merge vehicle and a goal node located in the main lane after the merge lane has ended. The method includes calculating a three-dimensional (3D) trajectory based on the graph by optimizing edge costs from the start node to the goal node, and controlling the merge vehicle based on the 3D trajectory.