Methods and devices for determining an action in the presence of road users

A non-transitory computer-readable medium comprising instructions which, if executed by a processor, cause the processor to:

• access environment information comprising an indication of a size of road users intersecting with a predetermined route of a vehicle in a road environment;
• prioritize an anticipated movement of at least one road user over a predicted movement of the vehicle within the predetermined route based on the size of road users, wherein the prioritization of the anticipated movement comprises calculating a cost value for the road users based on the size of the road users using a predefined cost function, and wherein parameters of the cost function are configured to affect the calculated cost value based on a first sigmoid function for a first parameter of the parameters and a second sigmoid function for a second parameter of the parameters;
• determine a vehicle action allowing the anticipated movement of the at least one road user by modifying the predetermined route of the vehicle to a modified route;
• and
• transmit a control signal to a mobility system of the vehicle to control the vehicle according to the modified route.

A device comprising:

• a means for accessing environment information comprising an indication of a size of road users intersecting with a predetermined route of a vehicle in a road environment;
• a means for prioritizing an anticipated movement of at least one road user over a predicted movement of the vehicle within the predetermined route based on the size of road users, wherein the prioritization of the anticipated movement comprises calculating a cost value for the road users based on the size of the road users using a predefined cost function, and wherein parameters of the cost function are configured to affect the calculated cost value based on a first sigmoid function for a first parameter of the parameters and a second sigmoid function for a second parameter of the parameters;
• a means for determining a vehicle action allowing the anticipated movement of the at least one road user by modifying the predetermined route of the vehicle to a modified route;
• and
• a means for transmitting a control signal to a mobility system of the vehicle to control the vehicle according to the modified route.