Autonomous vehicle control

A method comprising:

• receiving, at an autonomous vehicle from at least one other autonomous vehicle, a message comprising first information that indicates at least a velocity, a position, and at least a portion of a current trajectory of the at least one other autonomous vehicle;
• determining if a collision between the autonomous vehicle and at least one of the at least one other autonomous vehicle will occur, based at least in part on the first information and second information that indicates at least a velocity, a position, and at least a portion of a current trajectory of the autonomous vehicle;
• and
• responsive to determining that the collision will occur, amending a costmap of the autonomous vehicle based, at least in part, on (i) a relative position of the autonomous vehicle or a trajectory of the autonomous vehicle and (ii) a relative position of the at least one of the at least one other autonomous vehicle or a trajectory of the at least one other autonomous vehicle to manipulate cost in the costmap around an area of a predicted collision zone.

A non-transitory computer readable medium comprising program instructions which, when executed by an apparatus, cause the apparatus to perform at least the following:

• receiving, at an autonomous vehicle from at least one other autonomous vehicle, a message comprising first information that indicates at least a velocity, a position, and at least a portion of a current trajectory of the at least one other autonomous vehicle;
• determining if a collision between the autonomous vehicle and at least one of the at least one other autonomous vehicle will occur, based at least in part on the first information and second information that indicates a velocity, a position, and at least a portion of a current trajectory of the autonomous vehicle;
• and
• responsive to determining that the collision will occur, amending a costmap of the autonomous vehicle based, at least in part, on (i) a relative position of the autonomous vehicle or a trajectory of the autonomous vehicle and (ii) a relative position of the at least one of the at least one other autonomous vehicle or a trajectory of the at least one other autonomous vehicle to inflate cost in the costmap around an area of a predicted collision zone.