Safe Geometric Speed Planning Approach for Autonomous Driving through Occluded Intersections

Autonomous driving in urban environment needs to anticipate a number of dangerous events, such as the presence of moving vehicles in occluded areas. This paper presents an approach computing a safe motion along a fixed path in an urban environment with dynamic vehicles that may be occluded. The method works on the time-path space and uses a visibility graph to compute the speed profile, considering both safety and comfort. Evaluations performed on CARLA simulator on several typical scenarios show that the approach is able to drive safely in presence of hidden obstacles.