With their progressive deployment in increasingly complex environments, autonomous vehicles will more often interact with humans in shared spaces. However proactive planners, the most effective for human-aware navigation, are rarely applicable with real-world constraints because of their inherent complexity. Meanwhile classical approaches fail to navigate in cooperation with humans in complex or crowded scenarios. Therefore we propose to extend a global kinodynamic predictive collision avoidance approach with an interaction-aware behavioral prediction model for human-vehicle interactions. Thanks to a grid based Bayesian perception, our approach is versatile in modeling uncertainty and complex scenes. We deploy this solution on a robotic car and show that it can be used in real-world applications. With a qualitative and quantitative validation, we show that this interaction-aware collision avoidance solution is safe and performs well in crowded scenarios. Less computationally demanding and more versatile than proactive planners but still able to benefit from cooperation with humans, this interaction-aware approach offers a compromise between predictive and proactive planners.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Interaction-aware Predictive Collision Detector for Human-aware Collision Avoidance


    Contributors:


    Publication date :

    2023-06-04


    Size :

    3774966 byte





    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



    Context-aware collision avoidance devices and collision avoidance system comprising the same

    CROTEAU SERGE / BUIST ALEXANDRE / CERVINKA ALEXANDRE | European Patent Office | 2015

    Free access

    CONTEXT-AWARE COLLISION AVOIDANCE DEVICES AND COLLISION AVOIDANCE SYSTEM COMPRISING THE SAME

    CROTEAU SERGE / BUIST ALEXANDRE / CERVINKA ALEXANDRE | European Patent Office | 2018

    Free access

    Context-aware collision avoidance devices and collision avoidance system comprising the same

    CROTEAU SERGE / BUIST ALEXANDRE / CERVINKA ALEXANDRE | European Patent Office | 2017

    Free access

    Context-Aware Collision Avoidance Devices and Collision Avoidance System Comprising the Same

    CROTEAU SERGE / BUIST ALEXANDRE / CERVINKA ALEXANDRE | European Patent Office | 2017

    Free access

    CONTEXT-AWARE COLLISION AVOIDANCE DEVICES AND COLLISION AVOIDANCE SYSTEM COMPRISING THE SAME

    BUIST ALEXANDRE / CERVINKA ALEXANDRE / CROTEAU SERGE | European Patent Office | 2021

    Free access