Crosswalk handling for vehicles

A method comprising:

• receiving sensor data from a sensor of a vehicle in an environment;
• determining, based at least in part on the sensor data and map data, an object associated with a crosswalk;
• determining, based at least in part on the sensor data and the map data, a heatmap associated with the crosswalk, the heatmap comprising a plurality of cells discretized over a portion of the environment;
• determining, based at least in part on the heatmap, a factor associated with one or more of the vehicle or the object relative to the crosswalk;
• determining, based at least in part on the factor, a cost associated with the crosswalk;
• determining a trajectory for the vehicle to follow in the environment, based at least in part on the cost associated with the crosswalk;
• and
• causing the vehicle to operate based at least in part on the trajectory.

A non-transitory computer-readable medium storing processor-executable instructions that, when executed by one or more processors, cause the one or more processors to perform operations comprising:

• receiving sensor data from a sensor of a vehicle in an environment;
• determining, based at least in part on the sensor data and map data, an object associated with a crosswalk;
• determining factor associated with one or more of the vehicle or the object relative to the crosswalk;
• determining, based at least in part on the factor, a cost associated with the crosswalk;
• determining a trajectory for the vehicle to follow in the environment, based at least in part on the cost associated with the crosswalk;
• and
• causing the vehicle to operate based at least in part on the trajectory.