… an affordance for urban autonomous driving scenarios. The … participants, eg, pedestrians
and traffic lights. Compared with … for connected and automated vehicles at intersections by …

… as traffic intersections. This paper describes aspects of coordination also in less structured
situations … As this paper demonstrates, traffic conditions that require joint coordination are not …

… life, but the severe traffic accidents of autonomous vehicle (AV) … connections, traffic lights
and other details [11]. For most … road intersection environment, and then improve the safety and …

… Training results show that two CAVs are able to achieve significantly better traffic
efficiency compared to similar scenarios without and with one altruistic autonomous vehicle. …

… may stop at stop bars and then accelerate when traffic lights … that CAV trajectory planning
can not only improve the driving … Based on the online collected vehicle states and signal timings…

… “signal plan”, we note the implementation of the third strategy in our perfect world requires
no physical signal … Using traffic signal information and loop detector data broadcast via V2I …

… to autonomous driving in multiple intersection scenarios by … prediction of road traffic scenarios
and manoeuvre-planning decisions… while driving through intersections without traffic lights. …

… does not render our results inapplicable to scenarios with … We test two intersection examples
with hidden objects entering the … 6: Three distinctive interaction scenarios in our intersection …

… planner or policy may work well in intersection scenarios, but … We consider two road maps
from the INTERACTION dataset, … general behavior planner for autonomous vehicles based on …

… planning involving human drivers and autonomous vehicles (… uncontrolled traffic scenarios
or environments – intersections, … one at a time and do not use traffic signals, employ right-of-…