MERGE SITUATION EXPOSURE ALGORITHMS TO MAXIMIZE EXPOSURE TIME

A method of improving a merging efficiency of an ego vehicle is described. The method includes determining one or more merge gaps between vehicles in a target lane of a multilane highway. The method also includes computing an exposure time in which the ego vehicle is specified to merge into the one or merge gaps. The method further includes selecting a merge gap between a first vehicle and a second vehicle in the target lane of the multilane highway having a maximum exposure time.