We address the problem of motion planning for four-way intersection crossings with right-of-ways. Road safety typically assigns liability to the follower in rear-end collisions and to the approaching vehicle required to yield in side crashes. As an alternative to previous models based on heuristic state machines, we propose a planning framework which changes the prediction model of other cars (e.g. their prototypical accelerations and decelerations) depending on the given longitudinal or lateral priority rules. Combined with a state-of-the-art trajectory optimization approach ROPT (Risk Optimization Method) this allows to find ego velocity profiles minimizing risks from curves and all involved vehicles while maximizing utility (needed time to arrive at a goal) and comfort (change and duration of acceleration) under the presence of regulatory conditions. Analytical and statistical evaluations show that our method is able to follow right-of-ways for a wide range of other vehicle behaviors and path geometries. Even when the other cars drive in a non-priority-compliant way, ROPT achieves good risk-comfort tradeoffs.

翻译：我们研究了具有通行权的四向交叉路口运动规划问题。道路安全通常将追尾碰撞中的责任归于后车，侧向碰撞中则归于需要让行的接近车辆。作为基于启发式状态机的先前模型的替代方案，我们提出了一种规划框架，该框架根据给定的纵向或横向优先规则，改变其他车辆的预测模型（例如其典型加速与减速行为）。结合最先进的轨迹优化方法ROPT（风险优化方法），该方法能够在存在交通法规约束的条件下，找到自车速度曲线，最小化来自弯道及所有相关车辆的风险，同时最大化效用（到达目标所需时间）与舒适度（加速度变化率及持续时间）。分析与统计评估表明，我们的方法能够在多种其他车辆行为及路径几何形态下遵循通行权规则。即使其他车辆未按优先规则行驶，ROPT仍能实现风险与舒适度的良好权衡。