Interactive Pedestrian Crossing Behavior Prediction under the Explicit Communication of Intelligent Vehicles

doi:10.3901/JME.2023.08.151

Abstract

Abstract: Indoor parking lots are the typical scenario of pedestrian-intelligent vehicle（P-IV） interaction. Aiming at the lack of quantitative division of interaction stages in the P-IV interaction process, a pedestrian crossing risk assessment（PCRA） model is proposed. The model quantitatively divides the P-IV interaction process into four basic stages according to the spatiotemporal relationship between pedestrian motion and vehicle motion, and clarifies the boundaries of each stage. In view of the lack of exploring the influence of explicit communication information on P-IV interaction strategy and pedestrian prediction, the longitudinal available crossing range of pedestrians is firstly predicted based on the PCRA model, which is used as the dynamic and explicit communication information transmitted by intelligent vehicles to pedestrians. Then, the P-IV interactive decision-making sequence is analyzed under explicit communication. And combined with the key features of pedestrian crossing behavior in the interaction process, a pedestrian crossing behavior prediction model integrating prediction layer and recognition layer is established based on fuzzy theory. The experimental results show that the PCRA model can accurately assess the pedestrian crossing risk and quantitatively predict the longitudinal available crossing range of pedestrian; the average advance time of the pedestrian crossing behavior prediction is 0.46 s,which achieves an effective prediction effect.

Key words: intelligent vehicles, pedestrian crossing prediction, P-IV interaction, explicit communication, risk assessment

CLC Number:

U469

WANG Yong-sheng, LIU Jin-xin, BU De-xu, JIANG Fa-chao, LUO Yu-gong. Interactive Pedestrian Crossing Behavior Prediction under the Explicit Communication of Intelligent Vehicles[J]. Journal of Mechanical Engineering, 2023, 59(8): 151-162.

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