Behavior of autonomous vehicle according to road user response modeling with occlusions

摘要

The present disclosure provides a method for operating an autonomous vehicle 100 . To operate the autonomous vehicle, a plurality of lane segments in an environment of the autonomous vehicle are determined and a first object and a second object in the environment are detected. A first position with respect to the first object is determined with respect to the plurality of lane segments, and specific lane segments occluded by the first object are determined using the first position. According to the occluded lane segments, a reaction time for the second object is determined, and a driving command for the autonomous vehicle is determined according to the reaction time. Then, the autonomous vehicle is operated based on the driving command.