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The objective of this study is to reduce intersection collisions that are one of the most common types of accidents in Japan. This paper proposes an autonomous driving system that stops at the stop line automatically before entering intersection, re-start and autonomous brake with safety confirmation against crossing vehicles to reduce intersection collisions. This is so-called autonomous “Two-stage stop and start driving operation”. The system is based on recognition of surroundings by digital map and millimeter wave radar. Millimeter wave radars are used to detect crossing vehicles since they have long detection range and excellent robustness to weather condition. Furthermore, the designed autonomous driving system is implemented in the experimental vehicle and the effectiveness of the system is verified by performing test drives in a test course intersection. As a result of running test, the experimental vehicle certainly stops at the stop line before entering intersection, and in the re-start phase, the vehicle can stop automatically when a crossing vehicle is detected and then accelerates again when the safety is confirmed.

Study on automated driving system for two-stage stop and start operation for intersection collision avoidance in unsignalized intersections