Autonomous vehicles (AVs) must interact with other road users including pedestrians. Unlike passive environments, pedestrians are active agents having their own utilities and decisions, which must be inferred and predicted by AVs in order to control interactions with them and navigation around them. In particular, when a pedestrian wishes to cross the road in front of the vehicle at an unmarked crossing, the pedestrian and AV must compete for the space, which may be considered as a game-theoretic interaction in which one agent must yield to the other. To inform AV controllers in this setting, this study collects and analyses data from real-world human road crossings to determine what features of crossing behaviours are predictive about the level of assertiveness of pedestrians and of the eventual winner of the interactions. It presents the largest and most detailed data set of its kind known to us, and new methods to analyze and predict pedestrian-vehicle interactions based upon it. Pedestrian-vehicle interactions are decomposed into sequences of independent discrete events. We use probabilistic methods - logistic regression and decision tree regression - and sequence analysis to analyze sets and sub-sequences of actions used by both pedestrians and human drivers while crossing at an intersection, to find common patterns of behaviour and to predict the winner of each interaction. We report on the particular features found to be predictive and which can thus be integrated into game-theoretic AV controllers to inform real-time interactions.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Predicting pedestrian road-crossing assertiveness for autonomous vehicle control


    Contributors:
    Camara, F. (author) / Giles, O. (author) / Madigan, R. (author) / Rothmuller, M. (author) / Rasmussen, P. Holm (author) / Vendelbo-Larsen, S. A. (author) / Markkula, G. (author) / Lee, Y. M. (author) / Garach, Laura (author) / Merat, N. (author)


    Publication date :

    2018-11-01


    Size :

    2934676 byte





    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English




    Civilising pedestrian road crossing facilities

    Halden, D. / Association for European Transport | British Library Conference Proceedings | 2005


    PREDICTION OF PEDESTRIAN ROAD CROSSING WITH VEHICLE SENSOR

    BIALER ODED / GUPTA SIDDHARTHA | European Patent Office | 2024

    Free access

    Pedestrian road-crossing monitoring method

    PAN BAISHENG | European Patent Office | 2020

    Free access

    Driver-pedestrian-interaction in pedestrian road crossing events

    Puetz,A. / Zlocki,A. / Eckstein,L. et al. | Automotive engineering | 2014