Closing Speed Computation using Stereo Camera and Applications in Unsignalized T-Intersection

Abstract: 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.