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A design of safety support maneuvers for automated vehicles cruising around intersections

This paper provides safety support maneuvers for automated vehicles cruising around intersections. The behaviors of vehicles are formulated by a new motion model which can describe typical motion patterns of vehicles cruising around intersections. Based on this motion model, safety support maneuvers are designed as the procedures to generate the inputs for actuators, i.e., suitable acceleration and steering, which achieve the driving motions around intersections, i.e., straight passages, left-turn movements in right handed systems and lane change movements as the preparations of turn movements, with keeping traffic regulations.