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Journal Articles IEEE Transactions on Intelligent Transportation Systems Year : 2023

How To Evaluate the Navigation of Autonomous Vehicles Around Pedestrians?

Abstract

The navigation of autonomous vehicles around pedestrians is a key challenge when driving in urban environments. It is essential to test the proposed navigation system using simulation before moving to real-life implementation and testing. Evaluating the performance of the system requires the design of a diverse set of tests which spans the targeted working scenarios and conditions. These tests can then undergo a process of evaluation using a set of adapted performance metrics. This work addresses the problem of performance evaluation for an autonomous vehicle in a shared space with pedestrians. The methodology for designing the test simulations is discussed. Moreover, a group of performance metrics is proposed to evaluate the different aspects of the navigation: the motion safety, the quality of the generated trajectory and the comfort of the pedestrians surrounding the vehicle. Furthermore, the success/fail criterion for each metric is discussed. The implementation of the proposed evaluation method is illustrated by evaluating the performance of a pre-designed proactive navigation system using a shared space crowd simulator under Robot Operating System (ROS).
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hal-04255479 , version 1 (06-11-2023)

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Maria Kabtoul, Manon Prédhumeau, Anne Spalanzani, Julie Dugdale, Philippe Martinet. How To Evaluate the Navigation of Autonomous Vehicles Around Pedestrians?. IEEE Transactions on Intelligent Transportation Systems, 2023, pp.1-11. ⟨10.1109/TITS.2023.3323662⟩. ⟨hal-04255479⟩
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