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Mathematical Problems in Engineering
Volume 2016, Article ID 1025349, 15 pages
Research Article

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

School of Mechanical Engineering, Beijing Institute of Technology, Beijing 100081, China

Received 3 September 2015; Revised 18 February 2016; Accepted 23 March 2016

Academic Editor: Dongsuk Kum

Copyright © 2016 Weilong Song et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


Autonomous vehicles need to perform social accepted behaviors in complex urban scenarios including human-driven vehicles with uncertain intentions. This leads to many difficult decision-making problems, such as deciding a lane change maneuver and generating policies to pass through intersections. In this paper, we propose an intention-aware decision-making algorithm to solve this challenging problem in an uncontrolled intersection scenario. In order to consider uncertain intentions, we first develop a continuous hidden Markov model to predict both the high-level motion intention (e.g., turn right, turn left, and go straight) and the low level interaction intentions (e.g., yield status for related vehicles). Then a partially observable Markov decision process (POMDP) is built to model the general decision-making framework. Due to the difficulty in solving POMDP, we use proper assumptions and approximations to simplify this problem. A human-like policy generation mechanism is used to generate the possible candidates. Human-driven vehicles’ future motion model is proposed to be applied in state transition process and the intention is updated during each prediction time step. The reward function, which considers the driving safety, traffic laws, time efficiency, and so forth, is designed to calculate the optimal policy. Finally, our method is evaluated in simulation with PreScan software and a driving simulator. The experiments show that our method could lead autonomous vehicle to pass through uncontrolled intersections safely and efficiently.