Blockage routing and maneuver arbitration

A system comprising:

• one or more processors;
• and
• a computer-readable medium comprising instructions stored therein, which when executed by the processors, cause the processors to perform operations comprising:
• determining a vehicle route, wherein the vehicle route comprises at least one lane plan to be followed by an autonomous vehicle (AV);
• identifying a blockage along the vehicle route;
• analyzing the blockage to determine if the blockage constitutes a persistent blockage;
• and
• if the blockage constitutes a persistent blockage, associating a time value with the blockage.

A non-transitory computer-readable storage medium comprising instructions stored therein, which when executed by one or more processors, cause the processors to perform operations comprising:

• determining a vehicle route, wherein the vehicle route comprises at least one lane plan to be followed by an autonomous vehicle (AV);
• identifying a blockage along the vehicle route;
• analyzing the blockage to determine if the blockage constitutes a persistent blockage;
• and
• if the blockage constitutes a persistent blockage, associating a time value with the blockage.