Systems and methods for intersection maneuvering by vehicles

Systems and method are provided for controlling a vehicle. In one embodiment, method includes: receiving, via one or more sensing devices, sensor data relating to an environment associated with the vehicle; determining, by a processor, at least one of a type of an intersection, a type of a traffic control device, and a signal of the traffic control device associated with an upcoming intersection based on at least one of the sensor data and map data; defining, by the processor, a first zone and a second zone of the upcoming intersection based on the at least one of the type of the intersection, the type of the traffic control device, and the signal of the traffic control device associated with an upcoming intersection; determining, by the processor, a current zone of the vehicle based on the first zone and the second zone and a position of the vehicle; and selectively controlling, by the processor, lateral movement and longitudinal movement of the vehicle based on a control method that evaluates the current zone, operator instructions, and autonomous control instructions when controlling the vehicle.