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Conference Papers Year : 2020

Towards Proactive Navigation: A Pedestrian-Vehicle Cooperation Based Behavioral Model

Abstract

Developing autonomous vehicles capable of navigating safely and socially around pedestrians is a major challenge in intelligent transportation. This challenge cannot be met without understanding pedestrians' behavioral response to an autonomous vehicle, and the task of building a clear and quantitative description of the pedestrian to vehicle interaction remains a key milestone in autonomous navigation research. As a step towards safe proactive navigation in a space shared with pedestrians, this work introduces a pedestrian-vehicle interaction behavioral model. The model estimates the pedestrian's cooperation with the vehicle in an interaction scenario by a quantitative time-varying function. Using this cooperation estimation the pedestrian's trajectory is predicted by a cooperation-based trajectory planning model. Both parts of the model are tested and validated using real-life recorded scenarios of pedestrian-vehicle interaction. The model is capable of describing and predicting agents' behaviors when interacting with a vehicle in both lateral and frontal crossing scenarios.
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Dates and versions

hal-02509637 , version 1 (17-03-2020)

Identifiers

  • HAL Id : hal-02509637 , version 1

Cite

Maria Kabtoul, Anne Spalanzani, Philippe Martinet. Towards Proactive Navigation: A Pedestrian-Vehicle Cooperation Based Behavioral Model. ICRA 2020 - IEEE International Conference on Robotics and Automation, May 2020, Paris, France. pp.6958-6964. ⟨hal-02509637⟩
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