SYSTEM AND METHOD FOR LONGITUDINAL CONTROL ON APPROACH TO A TRAFFIC CLUSTER

A system and method for longitudinal control on approach to a traffic cluster includes receiving sensor data detected by one or more sensors in communication with a vehicle, processing the sensor data to determine that it indicates an approaching cluster, and verifying the approaching cluster by comparing the approaching cluster to route data and determining that the approaching cluster does not correspond to the route data. The method also includes generating a cluster confidence score for the approaching cluster based on a number of objects included in the approaching cluster, and initiating an open-loop longitudinal response to the approaching cluster. The method further includes performing a transition optimization on the open-loop longitudinal response to determine a handoff point for the vehicle, and, at the handoff point, transitioning from the open-loop longitudinal response to a closed-loop longitudinal response.