Systems and methods for avoiding deadlocks through vehicle maneuvers

A non-transitory computer-readable medium comprising:

• instructions that when executed by a processor cause the processor to:
• predict vehicle trajectories for a connected vehicle and an unconnected vehicle using a model that is generated from sensor data of a subject vehicle and information communicated to the subject vehicle;
• estimate, by the subject vehicle, deadlock parameters using the vehicle trajectories outputted from the model, and the deadlock parameters including a likelihood about the vehicle trajectories overlapping in arrival times at an intersection independent of prior knowledge about the unconnected vehicle;
• and
• in response to the deadlock parameters satisfying a threshold for the arrival times, avoid a deadlock by communicating a maneuver message (MM) for an automated maneuver by the connected vehicle according to vehicle parameters, or execute a motion adjustment automatically by the subject vehicle that reduces traffic conflicts according to the deadlock parameters and increases spacing of the arrival times at the intersection between the subject vehicle and the unconnected vehicle.

A method comprising:

• predicting vehicle trajectories for a connected vehicle and an unconnected vehicle using a model that is generated from sensor data of a subject vehicle and information communicated to the subject vehicle;
• estimating, by the subject vehicle, deadlock parameters using the vehicle trajectories outputted from the model, and the deadlock parameters including a likelihood about the vehicle trajectories overlapping in arrival times at an intersection independent of prior knowledge about the unconnected vehicle;
• and
• in response to the deadlock parameters satisfying a threshold for the arrival times, avoiding a deadlock by communicating a maneuver message (MM) for an automated maneuver by the connected vehicle according to vehicle parameters, or by executing a motion adjustment automatically by the subject vehicle that reduces traffic conflicts according to the deadlock parameters and increases spacing of the arrival times at the intersection between the subject vehicle and the unconnected vehicle.