Camara, F, Giles, O, Madigan, R et al. (8 more authors) (2018) Filtration analysis of pedestrian-vehicle interactions for autonomous vehicle control. In: Proceedings of IAS-15. 15th International Conference on Autonomous Systems, 11-15 Jun 2018, Baden-Baden, Germany. interACT
Abstract
Interacting with humans remains a challenge for autonomousvehicles (AVs). When a pedestrian wishes to cross the road in front of thevehicle at an unmarked crossing, the pedestrian and AV must competefor the space, which may be considered as a game-theoretic interaction inwhich one agent must yield to the other. To inform development of newreal-time AV controllers in this setting, this study collects and analy-ses detailed, manually-annotated, temporal data from real-world humanroad crossings as they interact with manual drive vehicles. It studies thetemporal orderings (filtrations) in which features are revealed to the ve-hicle and their informativeness over time. It presents a new frameworksuggesting how optimal stopping controllers may then use such data toenable an AV to decide when to act (by speeding up, slowing down, orotherwise signalling intent to the pedestrian) or alternatively, to continueat its current speed in order to gather additional information from newfeatures, including signals from that pedestrian, before acting itself.
Metadata
Item Type: | Proceedings Paper |
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Authors/Creators: |
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Keywords: | autonomous vehicles; pedestrians; human factors |
Dates: |
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Institution: | The University of Leeds |
Funding Information: | Funder Grant number EU - European Union 723395 |
Depositing User: | Symplectic Publications |
Date Deposited: | 11 Jul 2018 12:14 |
Last Modified: | 12 Jul 2018 05:40 |
Published Version: | https://www.interact-roadautomation.eu/wp-content/... |
Status: | Published |
Publisher: | interACT |
Open Archives Initiative ID (OAI ID): | oai:eprints.whiterose.ac.uk:133025 |