SYSTEMS AND METHODS FOR REDUCING PLANNING HORIZONS FOR AN AUTONOMOUS VEHICLE WITH GAP CONSTRAINTS

A computer-implemented method for controlling an autonomous vehicle is provided. The computer-implemented method includes identifying, using a gap planning module, based on a first set of perception data using a first time horizon, a gap an adjacent lane to a lane of travel of the autonomous vehicle, the adjacent lane suitable for entry by the autonomous vehicle. The computer-implemented method further includes generating, using the gap planning module, one or more planning constraints based on the identified gap. The computer-implemented method further includes generating, using a path planning module, a path for the autonomous vehicle based on a second set of perception data, a second time horizon, and the one or more planning constraints. The computer-implemented method further includes controlling the autonomous vehicle based on the generated path.