Systems and method are provided for controlling a first vehicle. In one embodiment, a method includes: determining, by a processor, that a second vehicle is going to merge into a current lane of the first vehicle at a merge point; and in response to the determining: obtaining, by the processor, a velocity history of the second vehicle, determining, by the processor, a first time value associated with the first vehicle and the merge point; determining, by the processor, a second time value associated with the second vehicle and the merge point; determining, by the processor, an intention of thesecond vehicle based on the velocity history, the first time value, and the second time value; and selectively generating, by the processor a command to at least one of control the first vehicle andprovide notification based on the intention.