  This paper develops a correct-by-design controller for an autonomous vehicle
interacting with opponent vehicles with unknown intentions. We define an
intention-aware control problem incorporating epistemic uncertainties of the
opponent vehicles and model their intentions as discrete-valued random
variables. Then, we focus on a control objective specified as belief-space
temporal logic specifications. From this stochastic control problem, we derive
a sound deterministic control problem using stochastic expansion and solve it
using shrinking-horizon model predictive control. The solved intention-aware
controller allows a vehicle to adjust its behaviors according to its opponents'
intentions. It ensures provable safety by restricting the probabilistic risk
under a desired level. We show with experimental studies that the proposed
method ensures strict limitation of risk probabilities, validating its efficacy
in autonomous driving cases. This work provides a novel solution for the
risk-aware control of interactive vehicles with formal safety guarantees.
