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22nd ITS World Congress, Bordeaux, France, 5–9 October 2015 Paper number ITS-2794 Autonomous driving at intersections : combining theoretical analysis with practical considerations Arnaud de La Fortelle1, 2*, Xiangjun Qian1 1. MINES ParisTech-PSL Research University, Center for Robotics, 60 Bd St Michel, 75006 Paris, France {arnaud.de la fortelle, xiangjun.qian}@mines-paristech.fr 2. Inria Paris - Rocquencourt, RITS team, Domaine de Voluceau - Rocquencourt, B.P. 105 - 78153 Le Chesnay, France Abstract The move towards automated driving is gaining impetus recently. This paper follows the approach of combining theoretical analysis with practical issues. It gives an insight of some practical problems that are encountered when running automated vehicles in real environments, using intersection crossing as a major example. The aim is not to try to be exhaustive but to show some criteria (safety, efficiency, reactivity, resilience, scalability…) for decision making in automated driving that have to be balanced before any mass deployment. In a second part we introduce mathematical tools that can help define algorithms and systems that improve current state of the art. We will also show some perspective for accommodating the hypotheses of these mathematical tools with real life constraints. Keywords: Automated driving, Decision making, Intersection. 1. Introduction Figure 1 Cybercars cooperating in Nancy (France). We focus on the decision making stage of the automated driving. We assume that perception and control Autonomous driving at intersections : combining theoretical and practical approaches are reliable. The perception system gives us a clear picture of the environment, such as road geometry, blocking, other traffic participants, etc. The control system is also precise enough to realize the action that is decided. Human