Early object detection for unprotected turns

A system, comprising:

• one or more sensors, the one or more sensors having:
• a first defined range adjacent an outer bound of reach of the one or more sensors, the first defined range having a first associated confidence value;
• and
• a second defined range within the first sensor range and closer to the one or more sensors than the first sensor range, the second defined range having a second associated confidence value that is higher than the first confidence value;
• one or more processors in communication with the one or more sensors, wherein the one or more processors are configured to:
• receive input from the one or more sensors;
• detect, based on the input received from the one or more sensors, an object within the first sensor range of the vehicle;
• and
• cause the vehicle to take a first action in response to detecting the object within the first sensor range, prior to the object being detected within the second sensor range, wherein the first action comprises at least one of yielding, ceasing acceleration, decelerating, or switching lanes.

A vehicle, comprising:

• a driving system including at least an acceleration system, a braking system, and a steering system;
• a perception system including at least one or more sensors, the one or more sensors having:
• a first defined range adjacent an outer bound of reach of the one or more sensors, the first defined range having a first associated confidence value;
• and
• a second defined range within the first sensor range and closer to the one or more sensors than the first sensor range, the second defined range having a second associated confidence value that is higher than the first confidence value;
• a control system including at least one or more processors in communication with the one or more sensors, wherein the one or more processors are configured to:
• receive input from the one or more sensors;
• detect, based on the input received from the one or more sensors, an object within the first sensor range of the vehicle;
• and
• cause the vehicle to take a first action in response to detecting the object within the first sensor range, prior to the object being detected within the second sensor range, wherein the first action comprises at least one of yielding, ceasing acceleration, decelerating, or switching lanes.