Vehicle operation based on converging time

A vehicle, comprising:

• a transmission system;
• a sensor;
• and
• an operation system to operate the vehicle, the operation system configured to:
• receive remote vehicle information indicating a geospatial state and a kinematic state for a remote vehicle;
• identify, using the sensor, host vehicle information indicating geospatial state and kinematic state for the vehicle;
• determine a converging time to a converging location within a vehicle transportation network based on the remote vehicle information and the host vehicle information;
• identify a first threshold at which a fixed deceleration of the vehicle to the converging location is achieved using a reaction delay of an operator of the vehicle, wherein the first threshold is a step function based on the kinematic state of the vehicle;
• and
• modify operation of the vehicle responsive to the converging time reaching the first threshold.

An apparatus for controlling a host vehicle, comprising:

• a processor;
• and
• memory storing instructions that cause the processor to perform a method comprising:
• receiving remote vehicle information indicating a geospatial state and a kinematic state for a remote vehicle;
• identifying host vehicle information indicating a geospatial state and a kinematic state for the host vehicle;
• determining a converging time to a converging location within a vehicle transportation network based on the remote vehicle information and the host vehicle information;
• identifying a first threshold at which a fixed deceleration of the host vehicle to the converging location is achieved using a reaction delay of an operator of the host vehicle, wherein the first threshold is a step-wise function based on the kinematic state of the host vehicle and a signal propagation delay of the host vehicle;
• and
• modifying operation of the host vehicle responsive to the converging time reaching the first threshold.