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

Figure 1

A motivation example. Autonomous vehicle B is going straight, while human-driven vehicle A has three potential driving directions: going straight, turning right, or turning left. If vehicle A turns right, it will not affect the normal driving of autonomous vehicle B. But the other maneuvers including turning left and going straight will lead to a passing sequence problem. Besides, if they have potential conflict, autonomous vehicle B will simulate the trajectories of vehicle A in a prediction horizon and gives the best actions in the current scenario. The vehicles drawn by dash lines are the future prediction positions. The red dash lines are the virtual lane assumption used in this paper, which means that the vehicles are considered to be driven inside the lane. The dark blue area is the potential collision region for these two cars.