Proactive driving modeling in blind intersections based on expert driver data

摘要

This paper presents a model for velocity control in blind corners and intersections based on expert driver data. Accurate expert driver data was collected with a car equipped with a 3D LiDAR and high definition maps. A model based on human expert driver data is used to control the velocity of the ego-vehicle when facing blind intersections. The model regulates ego-vehicle velocity based on the visibility of the road at the blind intersection. As the vehicle approximates the intersection and crossing roads are not visible, the vehicle slows down, then as the roads become visible the vehicle accelerates. Experimental results show the performance of the velocity model compared towards 270 trajectories taken from 7 expert drivers towards 6 different intersections without mandatory stops.