A computing device, comprising: one or more processors for controlling operations of the computing device; and a memory for storing data and program instructions used by the one or more processors, the computing device being in communication with a perception system disposed on an autonomous vehicle, wherein the one or more processors are configured to execute instructions stored in the memory to: detect, using the perception system disposed on the autonomous vehicle, a neighboring vehicle (306, 406, 506, 606) proximate to an intersection (300, 400, 500, 600); identify two or more potential paths (302, 304, 402, 404, 502, 504, 602, 604) through the intersection for the neighboring vehicle; determine, using the perception system disposed on the autonomous vehicle, a path priority for each of the two or more potential paths based on at least one of a position and an orientation of the neighboring vehicle; determine a path priority for a planned path through the intersection for the autonomous vehicle; and if the path priority of at least one of the potential paths is higher than the path priority of the planned path, send a command to one or more vehicle systems of the autonomous vehicle, configured to allow the neighboring vehicle to proceed through the intersection before the autonomous vehicle. one or more processors for controlling operations of the computing device; and a memory for storing data and program instructions used by the one or more processors, the computing device being in communication with a perception system disposed on an autonomous vehicle, wherein the one or more processors are configured to execute instructions stored in the memory to: detect, using the perception system disposed on the autonomous vehicle, a neighboring vehicle (306, 406, 506, 606) proximate to an intersection (300, 400, 500, 600); identify two or more potential paths (302, 304, 402, 404, 502, 504, 602, 604) through the intersection for the neighboring vehicle; determine, using the perception system disposed on the autonomous vehicle, a path priority for each of the two or more potential paths based on at least one of a position and an orientation of the neighboring vehicle; determine a path priority for a planned path through the intersection for the autonomous vehicle; and if the path priority of at least one of the potential paths is higher than the path priority of the planned path, send a command to one or more vehicle systems of the autonomous vehicle, configured to allow the neighboring vehicle to proceed through the intersection before the autonomous vehicle. detect, using the perception system disposed on the autonomous vehicle, a neighboring vehicle (306, 406, 506, 606) proximate to an intersection (300, 400, 500, 600); identify two or more potential paths (302, 304, 402, 404, 502, 504, 602, 604) through the intersection for the neighboring vehicle; determine, using the perception system disposed on the autonomous vehicle, a path priority for each of the two or more potential paths based on at least one of a position and an orientation of the neighboring vehicle; determine a path priority for a planned path through the intersection for the autonomous vehicle; and if the path priority of at least one of the potential paths is higher than the path priority of the planned path, send a command to one or more vehicle systems of the autonomous vehicle, configured to allow the neighboring vehicle to proceed through the intersection before the autonomous vehicle.