A Probabilistic Model for the Estimation of Pedestrian Crossing Behavior at Signalized Intersections

Yoriyoshi Hashimoto, Gu Yanlei, Li Ta Hsu, Kamijo Shunsuke

Research output: Chapter in book / Conference proceedingConference article published in proceeding or bookAcademic researchpeer-review

20 Citations (Scopus)


Active safety systems which assess highly dynamic traffic situations including pedestrians are required with growing demands in autonomous driving and ADAS. In this paper, we focus on one of the most hazardous traffic situations: the possible collision between a pedestrian and a turning vehicle at intersections. This paper presents a probabilistic model of pedestrian behavior to signalized crosswalks. For this purpose, we take not only pedestrian physical states but also contextual information into account. We propose a model based on the Dynamic Bayesian Network (DBN) which integrates relations among the intersection context information and the pedestrian behavior in the same way as human. Afterwards, the model jointly estimates their states by the particle filter. Experimental evaluation using real traffic data shows that this model is able to recognize the pedestrian crossing decision in advance from the traffic signal and pedestrian position information.

Original languageEnglish
Title of host publicationProceedings - 2015 IEEE 18th International Conference on Intelligent Transportation Systems
Subtitle of host publicationSmart Mobility for Safety and Sustainability, ITSC 2015
PublisherInstitute of Electrical and Electronics Engineers Inc.
Number of pages7
ISBN (Electronic)9781467365956, 9781467365956, 9781467365956, 9781467365956
Publication statusPublished - 30 Oct 2015
Externally publishedYes
Event18th IEEE International Conference on Intelligent Transportation Systems, ITSC 2015 - Gran Canaria, Spain
Duration: 15 Sep 201518 Sep 2015

Publication series

NameIEEE Conference on Intelligent Transportation Systems, Proceedings, ITSC


Conference18th IEEE International Conference on Intelligent Transportation Systems, ITSC 2015
CityGran Canaria

ASJC Scopus subject areas

  • Automotive Engineering
  • Mechanical Engineering
  • Computer Science Applications

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