1. A method of controlling a first vehicle, comprising: 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, one of a yield intention and a non-yield intention of the second merging vehicle based on a first summation of a velocity based probability of yield value computed from the velocity history with a time based probability of yield value computed from the first time value and the second time value, and a summation of a velocity based probability of non-yield value computed from the velocity history with a time based probability of non-yield value computed from 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 and provide notification based on the intention.