BLOCKAGE ROUTING AND MANEUVER ARBITRATION

The subject disclosure relates to solutions for arbitrating traffic blockages along vehicle routes. In some aspects, the disclosed technology encompasses a method including steps for determining a vehicle route, wherein the vehicle route comprises at least one lane plan to be followed by an autonomous vehicle (AV), identifying a blockage along the vehicle route, analyzing the blockage to determine if the blockage constitutes a persistent blockage, and if the blockage constitutes a persistent blockage, associating a time value with the blockage. Systems and machine-readable media are also provided.