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

Figure 10

Case test 1. In this case, human-driven vehicle passes through intersection after autonomous vehicle. (a), (c), and (e) are the performance of our method, while (b), (d), and (f) are from the strategy without considering the driving intention. (a) and (b) are the velocity profiles and the corresponding driving intention. For longitudinal intention, label 1 means yielding and label 2 means not yielding. In lateral intention, 1 means turning left, 2 means turning right, 3 means going straight, and 4 means stop. The intentions in (b) are not used in that method but for detailed analysis. (c) and (d) are the distance to collision area for autonomous vehicle and human-driven vehicle, respectively. (e) and (f) are the prediction and true motions of human-driven vehicles in time 1.5 s with a prediction length of 8 s. The red curves in these subfigures are from autonomous vehicle while blue lines are from human-driven vehicle. The green lines in (e) and (f) are the prediction velocity curves of human-driven vehicle.

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