Abstract—One of the most common challenges for autonomous driving at urban intersections is the proper analysis and interpretation of traffic lights and traffic signs in order to set the proper behavior of the ego vehicle. Among other problems, the inaccuracy of the perceived inputs and their time fluctuations increase the difficulty of understanding the current situation. Thus, we propose a new concept to interpret the pass permission at urban intersections in a simple manner. The main idea is to calculate the probability of every perceived input to generate a probability mass function in which every discrete state corresponds to one possible pass permission. In this sense, every resulting state indicates a certain behavior of the ego vehicle with respect to the intersection. This approach helps the system to set the proper maneuver automatically according to the European traffic rules.

Index Terms—automated driving, scenario interpretation

Cite: David Perdomo, Rene Waldmann, and Raúl Rojas, "Pass Permission Interpretation at Urban Intersections for Automated Driving Systems," Journal of Traffic and Logistics Engineering, Vol. 5, No. 2, pp. 45-53, December 2017. doi: 10.18178/jtle.5.2.45-53