Intention-Aware Autonomous Driving Decision-Making in an Uncontrolled Intersection

Algorithm 2

Policy selection process.

Input:

   Predict horizon , time step ,

    Current states: ,

()    

()    for each , do

()   for to , do

()    

()    

()    

()    

()    

()    

()      

()      

()      

()  end

()  

() end

()

()

() return