Pedestrian Models for Autonomous Driving Part II: High-Level Models of Human Behavior
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, interactive motions. Planning AV actions in the presence of pedestrians thus requires modelling of their probable future behavior 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, organizing 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 behavior, 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 behavior, high-level psychological and social modelling of pedestrian behavior 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 behavior, but much work is still needed to translate them into quantitative algorithms for practical AV control.
- Record URL:
-
Availability:
- Find a library where document is available. Order URL: http://worldcat.org/oclc/41297384
-
Supplemental Notes:
- Copyright © 2021, IEEE.
-
Authors:
- Camara, F
- Bellotto, N
- Cosar, S
- Weber, F
- Nathanael, D
- Althoff, M
- Wu, Jie
- Ruenz, J
- Dietrich, A
- Markkula, G
- Schieben, A
- Tango, F
- Merat, N
- Fox, C
- Publication Date: 2021-9
Language
- English
Media Info
- Media Type: Web
- Features: References;
- Pagination: pp 5453-5472
-
Serial:
- IEEE Transactions on Intelligent Transportation Systems
- Volume: 22
- Issue Number: 9
- Publisher: Institute of Electrical and Electronics Engineers (IEEE)
- ISSN: 1524-9050
- Serial URL: http://ieeexplore.ieee.org/xpl/RecentIssue.jsp?punumber=6979
Subject/Index Terms
- TRT Terms: Autonomous vehicles; Behavior; Pedestrian movement; Pedestrian vehicle interface; Traffic conflicts
- Subject Areas: Highways; Pedestrians and Bicyclists; Safety and Human Factors;
Filing Info
- Accession Number: 01785243
- Record Type: Publication
- Files: TRIS
- Created Date: Oct 22 2021 9:19AM