Interactions with human drivers is one of the major challenges for autonomous vehicles. In this work we consider urban crossroads without signals where driver interactions have to happen. Crossroad parameters are defined and how drivers passing the crossroad while maintaining a desired speed without collision is studied. A point of action is defined for incoming vehicles from different directions and a probability of stopping for each car is proposed as a function of vehicle speed and the distance-to-action for both vehicles. Driver behaviors with these probability models are also proposed. The method is then analyzed and validated by data collected from human drivers. The result shows a similar maneuver as human drivers while more aspects of evaluation is needed in the future work.

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