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

Table 1

Safe condition judgments in the intersection.

Human-driven vehicle

Left side

Right side

Opposite side

Same side

Driving direction

TL

LK

TR

S

TL

LK

TR

S

TL

LK

TR

S

TL

LK

TR

S

Turn left

★

★

○

○

★

★

○

○

★

★

★

○

○

○

○

○

Lane keeping

★

★

○

○

★

★

★

○

★

○

○

○

○

○

○

○

Turn right

○

★

○

○

○

○

○

○

★

○

○

○

○

○

○

○

Stop

○

○

○

○

○

○

○

○

○

○

○

○

○

○

○

○

★ indicates potential collision. ○ indicates no potential collision.