SYSTEMS AND METHODS FOR DETERMINING STEER WHILE STOPPED BEHAVIOR FOR A VEHICLE USING DYNAMIC LIMITS

This document discloses system, method, and computer program product embodiments for operating a vehicle. For example, the method includes: obtaining a vehicle trajectory and a location of an object in an environment; generating a margin comprising a first vehicle trajectory indicating a series of locations of the vehicle while contacting the object, a boundary of a drivable area or lane mark during a time interval in which the vehicle will travel past the object; generating a reachable boundary using a condition of the vehicle, a longitudinal speed profile and steering limits of the vehicle; comparing the reachable boundary and the margin; and concluding that the vehicle should steer while stopped when the reachable boundary is at any point within a threshold distance from the margin or that the vehicle should not steer while stopped when the reachable boundary is at no point within the threshold distance from the margin.