Systems and methods for vehicular navigation

This invention describes a system for self-driving vehicles to navigate around obstacles. It works by first mapping out a general route. Then, it uses sensors to spot groups of obstacles ahead, identifying clear "gaps" within these groups, and calculates a safe path for the vehicle to drive through these gaps, controlling the vehicle's movement accordingly. The claims specifically focus on situations where the vehicle is navigating within a single lane or needs to briefly use an adjacent lane to get around an obstacle.