Systems and methods for enhancing control of vehicles in merging senarios

A control system for controlling a vehicle, wherein the control system comprises:

• a computer device comprising:
• at least one memory;
• and
• at least one processor in communication with the at least one memory, the at least one processor programmed to:
• execute a first planning methodology, using data received from a sensor, to determine if there is at least one kinematically feasible merge gap defined by at least one traffic vehicle;
• and
• if the controller determines that there is at least one kinematically feasible merge gap, then the controller:
• identifies a target merge gap that includes one of the at least one determined kinematically feasible merge gaps, and determines a merge plan for merging with the target merge gap;
• and
• if the controller determines that there is not at least one feasible merge gap, the controller compares sensor data to a switch criterion to determine if a second planning methodology is required.

A method for controlling a vehicle using a controller associated with the vehicle, the method comprising:

• executing a first planning methodology, using data received from at least one sensor, to determine if there is at least one kinematically feasible merge gap defined by at least one traffic vehicle;
• and
• if the controller determines that there is at least one kinematically feasible merge gap, then the controller:
• identifies a target merge gap that includes one of the at least one determined kinematically feasible merge gaps, and determines a merge plan for merging with the target merge gap;
• and
• if the controller determines that there is not at least one feasible merge gap, the controller compares sensor data to a switch criterion to determine if a second planning methodology is required.