Pedestrian Models for Autonomous Driving Part II: High-Level Models of Human Behavior

Camara, Fanta, Bellotto, Nicola, Cosar, Serhan , Weber, Florian, Nathanael, Dimitris, Althoff, Matthias, Wu, Jingyuan, Ruenz, Johannes, Dietrich, Andre, Markkula, Gustav, Schieben, Anna, Tango, Fabio, Merat, Natasha and Fox, Charles (2020) Pedestrian Models for Autonomous Driving Part II: High-Level Models of Human Behavior. IEEE Transactions on Intelligent Transport Systems . ISSN 1524-9050

Full content URL: https://doi.org/10.1109/TITS.2020.3006767

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Pedestrian Models for Autonomous Driving Part II: High-Level Models of Human Behavior
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Item Type:Article
Item Status:Live Archive

Abstract

Abstract—Autonomous vehicles (AVs) must share space with pedestrians, both in carriageway cases such as cars at pedestrian crossings and off-carriageway cases such as delivery vehicles navigating through crowds on pedestrianized high-streets. Unlike static obstacles, pedestrians are active agents with complex, inter- active motions. Planning AV actions in the presence of pedestrians thus requires modelling of their probable future behaviour as well as detecting and tracking them. This narrative review article is Part II of a pair, together surveying the current technology stack involved in this process, organising recent research into a hierarchical taxonomy ranging from low-level image detection to high-level psychological models, from the perspective of an AV designer. This self-contained Part II covers the higher levels of this stack, consisting of models of pedestrian behaviour, from prediction of individual pedestrians’ likely destinations and paths, to game-theoretic models of interactions between pedestrians and autonomous vehicles. This survey clearly shows that, although there are good models for optimal walking behaviour, high-level psychological and social modelling of pedestrian behaviour still remains an open research question that requires many conceptual issues to be clarified. Early work has been done on descriptive and qualitative models of behaviour, but much work is still needed to translate them into quantitative algorithms for practical AV control.

Keywords:pedestrians, autonomous vehicles, game theory, signalling, interaction
Subjects:N Business and Administrative studies > N850 Transport Studies
Divisions:College of Science > School of Computer Science
ID Code:41706
Deposited On:21 Aug 2020 15:18

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