Obstacle avoidance action

The vehicle may traverse the environment along the first area and detect an obstacle obstructing the vehicle from advancing. The vehicle may determine a second region associated with a direction of travel adjacent to the first region and opposite the first region. Cost may be determined based on an action (e.g., oncoming action) beyond the obstacle with the second region. The vehicle may determine a target trajectory through the second area by comparing the cost to a cost threshold and/or a cost associated with another action (e.g., a "left-in-lane" action). The vehicle may traverse the environment based on the target trajectory to avoid, for example, obstacles in the environment while maintaining a safe distance from the obstacles and/or other entities in the environment. 车辆可以沿着第一区域穿越环境并检测阻碍车辆前进的障碍物。车辆可以确定与第一区域相邻并且与第一区域相反的行驶方向相关联的第二区域。可以基于利用第二区域超越障碍物的动作(例如，迎面而来的动作)确定成本。通过将成本与成本阈值和/或与另一动作(例如，"留在车道"动作)相关联的成本进行比较，车辆可以确定穿过第二区域的目标轨迹。车辆可以基于目标轨迹穿越环境以避开例如环境中的障碍物，同时与障碍物和/或环境中的其他实体保持安全距离。