Camara, F, Merat, N orcid.org/0000-0002-2132-4077 and Fox, CW orcid.org/0000-0002-6695-8081 (2019) A heuristic model for pedestrian intention estimation. In: Proceedings of 2019 IEEE Intelligent Transportation Systems Conference (ITSC). 2019 IEEE Intelligent Transportation Systems Conference (ITSC), 27-30 Oct 2019, Auckland, New Zealand. IEEE , pp. 3708-3713. ISBN 978-1-5386-7024-8
Abstract
Understanding pedestrian behaviour and controlling interactions with pedestrians is of critical importance for autonomous vehicles, but remains a complex and challenging problem. This study infers pedestrian intent during possible road-crossing interactions, to assist autonomous vehicle decisions to yield or not yield when approaching them, and tests a simple heuristic model of intent on pedestrian-vehicle trajectory data for the first time. It relies on a heuristic approach based on the observed positions of the agents over time. The method can predict pedestrian crossing intent, crossing or stopping, with 96% accuracy by the time the pedestrian reaches the curbside, on the standard Daimler pedestrian dataset. This result is important in demarcating scenarios which have a clear winner and can be predicted easily with the simple heuristic, from those which may require more complex game-theoretic models to predict and control.
Metadata
Item Type: | Proceedings Paper |
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Authors/Creators: |
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Copyright, Publisher and Additional Information: | © 2019 IEEE. This is an author produced version of a paper published in Proceedings of 2019 IEEE Intelligent Transportation Systems Conference (ITSC). Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. Uploaded in accordance with the publisher's self-archiving policy. |
Keywords: | Pedestrian Intention Crossing Estimation; Agent-Human Interactions; Autonomous Vehicles |
Dates: |
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Institution: | The University of Leeds |
Academic Units: | The University of Leeds > Faculty of Environment (Leeds) > Institute for Transport Studies (Leeds) > ITS: Safety and Technology (Leeds) |
Funding Information: | Funder Grant number EU - European Union 723395 |
Depositing User: | Symplectic Publications |
Date Deposited: | 18 Sep 2019 15:00 |
Last Modified: | 14 Feb 2020 14:11 |
Status: | Published |
Publisher: | IEEE |
Identification Number: | 10.1109/ITSC.2019.8917195 |
Open Archives Initiative ID (OAI ID): | oai:eprints.whiterose.ac.uk:150884 |