Human Driver Model and Driver Decision Making for Intersection Driving

In this paper, a general architecture of human driver model at intersections is proposed. One of the key modules in the architecture, driver decision making module, is discussed in details under various traffic scenarios. Process flow diagrams that are built in the decision making module for various decision making processes at both unsignalized and signalized intersections are also presented. This human driver model can be used not only for simulating human driver response, but also for autonomous vehicle's decision making in the intersection area. A left-turning scenario at an unsignalized intersection was simulated by applying the proposed driver decision process flow diagram. Driver's behavior was mimicked and safe vehicle operations were demonstrated.