Interaction-Aware Intention Estimation at Roundabouts

Roundabouts have many benefits when compared with traditional signal-controlled intersections: improve safety, reduce delay, improve traffic flow, are less expensive, and occupy less area. The behavior of traffic participants is full of uncertainties in the real world. An automated system that relies only on its perception is unable to safely enter the roundabout until a large gap occurs or the vehicle approaching has actually left the roundabout or passed the conflict area. In order to improve the driving quality, autonomous vehicles should be able to infer the correct intention at roundabouts as early as possible. In this work, a method to classify the intentions of the surrounding vehicles at unsignalized roundabouts is proposed. For each vehicle at the scene, a Dynamic Bayesian Network is instantiated and the intentions are inferred using a particle filter