Systems and methods for entering traffic flow in autonomous vehicles

A computer implemented system for controlling a vehicle, comprising:

• a non-transitory computer readable medium comprising:
• an obstacle detection module, configured to, by a processor:
• receive, via one or more sensing devices, sensor data relating to an environment associated with a vehicle;
• determine, from the sensor data, the presence of an obstacle that at least partially occludes a view of the one or more sensing devices of a first lane of an intersection of an intended path;
• a positioning module configured to, by a processor:
• determine, with a processor, at least one of a pose and a position of the vehicle with respect to the obstacle without significantly obstructing the first lane;
• control, with a processor, the vehicle based on the at least one of the pose and the position;
• and
• a clearing module configured to, by a processor:
• monitor the first lane via the first sensing device to determine when the intended path is clear;
• and
• control the vehicle to enter the traffic flow of the first lane when it is determined that the intended path is clear.

An autonomous vehicle, comprising:

• a plurality of sensing devices that provide sensor data;
• and
• a controller that, by a processor and based on the sensor data:
• receives, via one or more sensing devices, sensor data relating to an environment associated with a vehicle, wherein the vehicle is substantially stationary and has an intended path corresponding to entering a traffic flow of a first lane;
• determines, with the sensor data, the presence of an obstacle that at least partially occludes a view of the one or more sensing devices of a first lane of the intersection;
• determines at least one of a pose and a position of the vehicle with respect to the obstacle that does not significantly obstruct the first lane;
• controls the vehicle based on the at least one of the pose and the position;
• monitors the first lane via the first sensing device to determine when the intended path is clear;
• and
• controls the autonomous vehicle to enter the traffic flow of the first lane when it is determined that the intended path is clear.