Autonomous Driving

Motion Planning for Uncontrolled Intersections



Intersection Passing Control

Algorithm Overview



Driving mode decision using state machine

1) Driving mode definition


2) State machine design


3) State transition condition





Desired motion decision with target vehicle motion prediction

1) Human driving data analysis for prediction model definition


2) Prediction for intersection scenario


3) Conflict point prediction






Vehicle test and evaluation 

1) Test scenario

2) Test results and analysis