Probability estimation for pedestrian crossing intention at signalized crosswalks

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

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

15 Citations (Scopus)

Abstract

With the rapid development of the techniques for autonomous driving and ADAS in the last decade, more advanced methods to understand pedestrian behavior are required. Crosswalks at intersections are the one of most hazardous where many accidents between turning-vehicles and pedestrians occur. In this paper, we present a method for estimating the pedestrian's intention to cross a signalized crosswalk or stop in front of it. The intention is crucial to not only the collision avoidance but also smooth traffic in the context of autonomous driving by reducing unnecessary risk margins. Regarding the behavioral flow of pedestrian: assessment, decision-making and physical movement, as a stochastic process, we construct a probabilistic model with the Dynamic Bayesian Network. It takes account of not only pedestrian physical states but also contextual information and integrates the relationship among them. By employing the particle filter as a Bayesian filtering framework, the model estimates the pedestrian state from signal information and pedestrian position measurements. Evaluation using experimental data collected in real traffic scene shows that the proposed model has an ability to detect the pedestrian intention to cross a crosswalk even when he/she is far from it.

Original languageEnglish
Title of host publication2015 IEEE International Conference on Vehicular Electronics and Safety, ICVES 2015
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages114-119
Number of pages6
ISBN (Electronic)9781467391146
DOIs
Publication statusPublished - 1 Feb 2016
Externally publishedYes
EventIEEE International Conference on Vehicular Electronics and Safety, ICVES 2015 - Yokohama, Japan
Duration: 5 Nov 20157 Nov 2015

Publication series

Name2015 IEEE International Conference on Vehicular Electronics and Safety, ICVES 2015

Conference

ConferenceIEEE International Conference on Vehicular Electronics and Safety, ICVES 2015
CountryJapan
CityYokohama
Period5/11/157/11/15

ASJC Scopus subject areas

  • Safety, Risk, Reliability and Quality
  • Electrical and Electronic Engineering
  • Automotive Engineering

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