This letter presents a conflict resolution strategy for an autonomous vehicle mounted with a stereo camera approaching an unsignalized T-intersection. A mathematical model for uncertainty in stereo camera depth measurements is considered and an analysis establishes the proposed adaptive depth sampling logic which guarantees an upper bound on the computed closing speed. Further, a collision avoidance logic is proposed that utilizes the closing speed bound and generates a safe trajectory plan based on the convex hull property of a quadratic B\'ezier curve-based reference path. Realistic validation studies are presented with neighboring vehicle trajectories generated using Next Generation Simulation (NGSIM) dataset.

翻译：本文提出了一种针对配备立体相机的自动驾驶车辆在接近无信号T型交叉口时的冲突消解策略。研究考虑了立体相机深度测量不确定性的数学模型，并通过分析建立了所提出的自适应深度采样逻辑，该逻辑保证了计算出的接近速度存在一个上界。此外，本文提出了一种避撞逻辑，该逻辑利用接近速度边界，并基于二次Bézier曲线参考路径的凸包性质生成安全的轨迹规划。研究使用下一代仿真（NGSIM）数据集生成邻近车辆轨迹，进行了逼真的验证实验。