mlsanityData to 14 Oct 2026

Autonomous Driving Strategies at Intersections: Scenarios, State-of-the-Art, and Future Outlooks

arXiv 2106.13052 ↗First posted 24 Jun 2021cs.RO cs.AIcited by 15

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Abstract (arXiv)

Due to the complex and dynamic character of intersection scenarios, the autonomous driving strategy at intersections has been a difficult problem and a hot point in the research of intelligent transportation systems in recent years. This paper gives a brief summary of state-of-the-art autonomous driving strategies at intersections. Firstly, we enumerate and analyze common types of intersection scenarios, corresponding simulation platforms, as well as related datasets. Secondly, by reviewing previous studies, we have summarized characteristics of existing autonomous driving strategies and classified them into several categories. Finally, we point out problems of the existing autonomous driving strategies and put forward several valuable research outlooks.

Key facts. Cited by 15 papers in the map (data through 14 Oct 2026). Builds on 21 of its 83 references that are in the map. First posted on arXiv 24 Jun 2021.

Builds on

21 of 83 references.

References · 21

  1. 2019nuScenes: A multimodal dataset for autonomous drivingcited by 4,523
  2. 2016The Cityscapes Dataset for Semantic Urban Scene Understandingcited by 4,444
  3. 2017CARLA: An Open Urban Driving Simulatorcited by 2,449
  4. 2018BDD100K: A Diverse Driving Dataset for Heterogeneous Multitask Learningcited by 1,288
  5. 2017AirSim: High-Fidelity Visual and Physical Simulation for Autonomous Vehiclescited by 523
  6. 2017End-to-end Driving via Conditional Imitation Learningcited by 485
  7. 2020LGSVL Simulator: A High Fidelity Simulator for Autonomous Drivingcited by 121
  8. 2020Interpretable End-to-end Urban Autonomous Driving with Latent Deep Reinforcement Learningcited by 103
  9. 2019The H3D Dataset for Full-Surround 3D Multi-Object Detection and Tracking in Crowded Urban Scenescited by 80
  10. 2019Conditional Generative Neural System for Probabilistic Trajectory Predictioncited by 76
  11. 2019The Mapillary Traffic Sign Dataset for Detection and Classification on a Global Scalecited by 50
  12. 2019SUMMIT: A Simulator for Urban Driving in Massive Mixed Trafficcited by 40
9 more
  1. 2020Reinforcement Learning for Autonomous Driving with Latent State Inference and Spatial-Temporal Relationshipscited by 37
  2. 2018Is it Safe to Drive? An Overview of Factors, Challenges, and Datasets for Driveability Assessment in Autonomous Drivingcited by 11
  3. 2019Game-Theoretic Modeling of Multi-Vehicle Interactions at Uncontrolled Intersectionscited by 11
  4. 2019Cooperative Driving at Unsignalized Intersections Using Tree Searchcited by 10
  5. 2021Cooperative Decision Making of Connected Automated Vehicles at Multi-lane Merging Zone: A Coalitional Game Approachcited by 10
  6. 2021Distributed Cooperative Driving in Multi-Intersection Road Networkscited by 4
  7. 2017Decentralized Optimal Control for Connected Automated Vehicles at Intersections Including Left and Right Turnscited by 2
  8. 2019Cooperative Schedule-Driven Intersection Control with Connected and Autonomous Vehiclescited by 2
  9. 2014Priority-based coordination of mobile robotscited by 1

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Citing papers per year: 2022: 2; 2023: 8; 2024: 3; 2025: 2.

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  1. 2022SIND: A Drone Dataset at Signalized Intersection in Chinacited by 30
  2. 2025UniOcc: A Unified Benchmark for Occupancy Forecasting and Prediction in Autonomous Drivingcited by 28
  3. 2023Choose Your Simulator Wisely: A Review on Open-source Simulators for Autonomous Drivingcited by 26
  4. 2023Interactive Autonomous Navigation with Internal State Inference and Interactivity Estimationcited by 10
  5. 2024Reward-Driven Automated Curriculum Learning for Interaction-Aware Self-Driving at Unsignalized Intersectionscited by 10
  6. 2023Identify, Estimate and Bound the Uncertainty of Reinforcement Learning for Autonomous Drivingcited by 6
  7. 2025Human Implicit Preference-Based Policy Fine-tuning for Multi-Agent Reinforcement Learning in USV Swarmcited by 6
  8. 2023Robust Driving Policy Learning with Guided Meta Reinforcement Learningcited by 5
  9. 2022Multi-Task Conditional Imitation Learning for Autonomous Navigation at Crowded Intersectionscited by 4
  10. 2023Predictive Control for Autonomous Driving with Uncertain, Multi-modal Predictionscited by 4
  11. 2024Importance Sampling-Guided Meta-Training for Intelligent Agents in Highly Interactive Environmentscited by 3
  12. 2023Multi-Agent Probabilistic Ensembles with Trajectory Sampling for Connected Autonomous Vehiclescited by 1
3 more
  1. 2023Online Sequence Clustering Algorithm for Video Trajectory Analysiscited by 0
  2. 2023Semantic and Articulated Pedestrian Sensing Onboard a Moving Vehiclecited by 0
  3. 2024Roundabout Dilemma Zone Data Mining and Forecasting with Trajectory Prediction and Graph Neural Networkscited by 0