Camara, F orcid.org/0000-0002-2655-1228 and Fox, C (2021) Space Invaders: Pedestrian Proxemic Utility Functions and Trust Zones for Autonomous Vehicle Interactions. International Journal of Social Robotics, 13 (8). pp. 1929-1949. ISSN 1875-4791
Abstract
Understanding pedestrian proxemic utility and trust will help autonomous vehicles to plan and control interactions with pedestrians more safely and efficiently. When pedestrians cross the road in front of human-driven vehicles, the two agents use knowledge of each other’s preferences to negotiate and to determine who will yield to the other. Autonomous vehicles will require similar understandings, but previous work has shown a need for them to be provided in the form of continuous proxemic utility functions, which are not available from previous proxemics studies based on Hall’s discrete zones. To fill this gap, a new Bayesian method to infer continuous pedestrian proxemic utility functions is proposed, and related to a new definition of ‘physical trust requirement’ (PTR) for road-crossing scenarios. The method is validated on simulation data then its parameters are inferred empirically from two public datasets. Results show that pedestrian proxemic utility is best described by a hyperbolic function, and that trust by the pedestrian is required in a discrete ‘trust zone’ which emerges naturally from simple physics. The PTR concept is then shown to be capable of generating and explaining the empirically observed zone sizes of Hall’s discrete theory of proxemics.
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Item Type: | Article |
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Authors/Creators: |
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Copyright, Publisher and Additional Information: | This article is licensed under a Creative Commons Attribution 4.0 International License, which permits use, sharing, adaptation, distribution and reproduction in any medium or format, as long as you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons licence, and indicate if changes were made. The images or other third party material in this article are included in the article’s Creative Commons licence, unless indicated otherwise in a credit line to the material. If material is not included in the article’s Creative Commons licence and your intended use is not permitted by statutory regulation or exceeds the permitted use, you will need to obtain permission directly from the copyright holder. To view a copy of this licence, visit http://creativecommons.org/licenses/by/4.0/. |
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) |
Funding Information: | Funder Grant number EU - European Union 723395 |
Depositing User: | Symplectic Publications |
Date Deposited: | 12 Nov 2020 13:45 |
Last Modified: | 25 Jun 2023 22:29 |
Status: | Published |
Publisher: | Springer |
Identification Number: | 10.1007/s12369-020-00717-x |
Open Archives Initiative ID (OAI ID): | oai:eprints.whiterose.ac.uk:167869 |
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