AUTONOMOUS VEHICLE CONTROL

A computer apparatus, that receive, at an autonomous vehicle, information at least indicative of at least a velocity, a position and at least a portion of a current trajectory of at least one other autonomous vehicle; determine if a collision between the autonomous vehicle and at least one of the at least one other autonomous vehicle will occur, based, at least in part, on the received information and, at least, a velocity, a position and at least a portion of a current trajectory of the autonomous vehicle; and if it is determined that the collision will occur, amend a costmap of the autonomous vehicle based, at least in part, on relative positioning and/or trajectories of the autonomous vehicle and the at least one other autonomous vehicle to manipulate cost in the costmap in and/or around an area of a predicted collision zone.