Prioritizing vehicle navigation

A method implemented by a computing system including one or more processors and storage media storing machine-readable instructions, wherein the method is performed using the one or more processors, the method comprising:

• identifying vehicles in an environment of a priority vehicle, wherein the vehicles include a first vehicle configured to receive direct commands from the system and second and third vehicles that do not receive direct commands from the system, the first vehicle being in front of the third vehicle, and the third vehicle being in front of the priority vehicle;
• determining relative priorities of the first vehicle and the priority vehicle, the priority vehicle determined to have a higher priority than the first vehicle;
• determining a desired navigation of the priority vehicle in the environment based on the relative priorities of the first vehicle and the priority vehicle;
• and
• providing an instruction to the first vehicle based on the desired navigation of the priority vehicle in the environment, the instruction characterizing one or more maneuvers to be performed by the first vehicle to facilitate the desired navigation of the priority vehicle, wherein:
• in response to the priority vehicle being obstructed by the second vehicle and the third vehicle, the instruction comprises commanding the first vehicle to move in front of the second vehicle, and to reduce a speed of the first vehicle to a speed lower than a speed of the third vehicle.

A non-transitory computer readable medium comprising instructions that, when executed, cause one or more processors to perform:

• identifying vehicles in an environment of a priority vehicle, wherein the vehicles include a first vehicle configured to receive direct commands from the system and second and third vehicles that do not receive direct commands from the system, the first vehicle being in front of the third vehicle, and the third vehicle being in front of the priority vehicle;
• determining relative priorities of the first vehicle and the priority vehicle, the priority vehicle determined to have a higher priority than the first vehicle;
• determining a desired navigation of the priority vehicle in the environment based on the relative priorities of the first vehicle and the priority vehicle, and based on a collective travel time for the first vehicle and the priority vehicle;
• and
• providing an instruction to the first vehicle based on the desired navigation of the priority vehicle in the environment, the instruction characterizing one or more maneuvers to be performed by the first vehicle to facilitate the desired navigation of the priority vehicle, wherein:
• in response to the priority vehicle being obstructed by the second vehicle and the third vehicle, the instruction comprises commanding the first vehicle to move in front of the second vehicle, and to reduce a speed of the first vehicle to a speed lower than a speed of the third vehicle.