  This paper is on decision making of autonomous vehicles for handling
roundabouts. The round intersection is introduced first followed by the Markov
Decision Processes (MDP), the Partially Observable Markov Decision Processes
(POMDP) and the Object Oriented Partially Observable Markov Decision Process
(OOPOMDP). The Partially Observable Monte-Carlo Planning algorihtm (POMCP)
algorithm is introduced and OOPOMDP is applied to decision making for
autonomous vehicles in round intersections. Decision making is formulated as a
POMDP problem and the penalty function is formulated and set followed by
improvement of decision making with policy prediction. The augmented objective
state and policy based state transition is introduced simulations are used to
demonstrate the effectiveness of the proposed method.
