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

Figure 4

One example of predicting longitudinal intentions. This example is based on the scenario of Figure 1 and two vehicles both go straight. The value 1 of -axis in the first figure denotes the intention of yielding, while 2 represents not yielding. In the first 2.8 s, the intention is yielding. After that, due to the acceleration action and less relative DTC, autonomous vehicle could understand human-driven vehicle’s not-yielding intention.

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