Towards Proactive Navigation: A Pedestrian-Vehicle Cooperation Based Behavioral Model

Maria Kabtoul (1, 2) , Anne Spalanzani (1) , Philippe Martinet (2)

1 CHROMA - Robots coopératifs et adaptés à la présence humaine en environnements dynamiques
2 CHORALE - Robots collaboratifs et hétérogènes interagissant dans des environnements vivants

Developing autonomous vehicles capable of navigating safely and socially around pedestrians is a major challenge in intelligent transportation. This challenge cannot be met without understanding pedestrians' behavioral response to an autonomous vehicle, and the task of building a clear and quantitative description of the pedestrian to vehicle interaction remains a key milestone in autonomous navigation research. As a step towards safe proactive navigation in a space shared with pedestrians, this work introduces a pedestrian-vehicle interaction behavioral model. The model estimates the pedestrian's cooperation with the vehicle in an interaction scenario by a quantitative time-varying function. Using this cooperation estimation the pedestrian's trajectory is predicted by a cooperation-based trajectory planning model. Both parts of the model are tested and validated using real-life recorded scenarios of pedestrian-vehicle interaction. The model is capable of describing and predicting agents' behaviors when interacting with a vehicle in both lateral and frontal crossing scenarios.

Domaines: Modélisation et simulation; Automatique; Interface homme-machine [cs.HC]; Robotique [cs.RO]

Maria Kabtoul, Anne Spalanzani, Philippe Martinet. Towards Proactive Navigation: A Pedestrian-Vehicle Cooperation Based Behavioral Model. ICRA 2020 - IEEE International Conference on Robotics and Automation, May 2020, Paris, France. pp.6958-6964. ⟨hal-02509637⟩