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Decision Making Process of Autonomous Vehicle with Intention-Aware Prediction at Unsignalized Intersections (考量意圖之無燈號號誌路口決策過程)
  • 發布年度:2020
  • 主要類別:自動駕駛
  • 次要類別:論文
  • Abstract—In an environment of intelligent transportation systems, interaction with other drivers via identifying their
    intentions becomes a challenging and unavoidable problem for the driverless vehicles. In this paper, we propose a human-like decision model for unsignalized intersections. An intention-aware prediction for other drivers via a CNN method with multipleobject tracking and Kalman-Filter operations is considered in the developed model to construct the interaction of other drivers. A human-like decision model according to the moving intention of
    the obstacle was proposed to generate the strategy of an autonomous vehicle. Our approach method is validated on a real autonomous vehicle in the presence of human-driven vehicles through an on-road test.

    Keywords—CNN, intention, multiple-object tracking