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

Autor: Philippe Martinet, Maria Kabtoul, Anne Spalanzani
Přispěvatelé: Robots coopératifs et adaptés à la présence humaine en environnements dynamiques (CHROMA), Inria Grenoble - Rhône-Alpes, Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria)-CITI Centre of Innovation in Telecommunications and Integration of services (CITI), Institut National des Sciences Appliquées de Lyon (INSA Lyon), Université de Lyon-Institut National des Sciences Appliquées (INSA)-Université de Lyon-Institut National des Sciences Appliquées (INSA)-Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National des Sciences Appliquées de Lyon (INSA Lyon), Université de Lyon-Institut National des Sciences Appliquées (INSA)-Université de Lyon-Institut National des Sciences Appliquées (INSA), Robots collaboratifs et hétérogènes interagissant dans des environnements vivants (CHORALE), Inria Sophia Antipolis - Méditerranée (CRISAM), Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria), ANR-17-CE22-0010,Hianic,Navigation autonome dans des foules inspirée par les humains(2017), Kabtoul, Maria, Navigation autonome dans des foules inspirée par les humains - - Hianic2017 - ANR-17-CE22-0010 - AAPG2017 - VALID
Jazyk: angličtina
Rok vydání: 2020
Předmět:
0209 industrial biotechnology
Computer science
media_common.quotation_subject
ComputingMethodologies_IMAGEPROCESSINGANDCOMPUTERVISION
02 engineering and technology
Pedestrian
Task (project management)
020901 industrial engineering & automation
Human–computer interaction
[INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering
0202 electrical engineering
electronic engineering
information engineering
[INFO.INFO-RB]Computer Science [cs]/Robotics [cs.RO]
[INFO.INFO-HC]Computer Science [cs]/Human-Computer Interaction [cs.HC]
Function (engineering)
Intelligent transportation system
Navigation research
media_common
[INFO.INFO-RB] Computer Science [cs]/Robotics [cs.RO]
020207 software engineering
[INFO.INFO-MO]Computer Science [cs]/Modeling and Simulation
Behavioral modeling
Trajectory
Task analysis
[INFO.INFO-MO] Computer Science [cs]/Modeling and Simulation
[INFO.INFO-HC] Computer Science [cs]/Human-Computer Interaction [cs.HC]
[INFO.INFO-AU] Computer Science [cs]/Automatic Control Engineering
Zdroj: ICRA 2020-International Conference on Robotics and Automation
ICRA 2020-International Conference on Robotics and Automation, May 2020, Paris, France
ICRA 2020-IEEE International Conference on Robotics and Automation
ICRA 2020-IEEE International Conference on Robotics and Automation, May 2020, Paris, France. pp.6958-6964
ICRA
Popis: International audience; 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.
Databáze: OpenAIRE
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