Research Article
Intention-Aware Autonomous Driving Decision-Making in an Uncontrolled Intersection
Figure 6
An example of policy generation process. (a) is the generated policies and (b) is the corresponding speed profiles. The interval of each prediction step is 0.5 s, current speed is 12 m/s2, and the speed limit is 20 m/s2. The bold black line is one policy. In the first 3 seconds, autonomous vehicles decelerate in −3.5 m/s2, then accelerate at 2 m/s2 for 4 seconds, and finally stop in the last one second. In this case, 109 policies were generated, which is suitable for replanning fast.
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