Tian, K., Wei, C., Lyu, W. et al. (5 more authors) (2025) Interacting with Yielding Vehicles: A Perceptually Plausible Model for Pedestrian Road Crossing Decisions. IEEE Transactions on Intelligent Transportation Systems. ISSN 1524-9050
Abstract
As autonomous driving technology advances, automated vehicles (AVs) will increasingly share road space with pedestrians, creating significant challenges for AV systems. Effective interaction between AVs and pedestrians is one of the key hurdles. Pedestrian simulation tools offer the potential to expedite the evaluation and refinement of these interactive capabilities. However, existing research lacks efforts to model pedestrian behavior in vehicle-yielding scenarios, resulting in distorted modeling results. This paper proposes a perceptually plausible road-crossing decision model that creates temporaldynamic crossing decisions across a range of vehicle-yielding scenarios. Specifically, a proposed hybrid perception strategy explains how pedestrians may apply psychophysical cues to make crossing decisions. Discrete choice models based on the hybrid perception strategy combined with a crossing initiation model reproduce the details of crossing decisions: the decision and its timing. An empirical dataset collected in a pedestrian simulator is applied to validate the model. Additionally, the latest crossing decision models, i.e., the evidence accumulation model and the artificial neural networks approach, are employed as comparisons. The results show that the proposed model accurately reproduces crossing decision patterns affected by diverse vehicle kinematics in vehicle-yielding scenarios in a perceptually plausible manner. Our results strengthen the notion that there is a perceptual threshold for pedestrians to control their decisionmaking strategy. The proposed theory and approach bring insights into the computational pedestrian road-crossing behavior and have practical implications in traffic simulation and AV development.
Metadata
Item Type: | Article |
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Authors/Creators: |
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Copyright, Publisher and Additional Information: | This is an author produced version of an article published in IEEE Transactions on Intelligent Transportation Systems, made available under the terms of the Creative Commons Attribution License (CC-BY), which permits unrestricted use, distribution and reproduction in any medium, provided the original work is properly cited. |
Keywords: | Pedestrian-vehicle interaction, Road crossing decision, Perceptually plausible, Vehicle-yielding scenario, Simulation |
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) The University of Leeds > Faculty of Environment (Leeds) > Institute for Transport Studies (Leeds) |
Depositing User: | Symplectic Publications |
Date Deposited: | 30 Jun 2025 13:55 |
Last Modified: | 30 Jun 2025 13:55 |
Status: | Published online |
Publisher: | Institute of Electrical and Electronics Engineers (IEEE) |
Identification Number: | 10.1109/tits.2025.3562899 |
Related URLs: | |
Sustainable Development Goals: | |
Open Archives Initiative ID (OAI ID): | oai:eprints.whiterose.ac.uk:228459 |