scholarly journals Coupling Intent and Action for Pedestrian Crossing Behavior Prediction

2021 ◽  
Author(s):  
Yu Yao ◽  
Ella Atkins ◽  
Matthew Johnson-Roberson ◽  
Ram Vasudevan ◽  
Xiaoxiao Du
Keyword(s):  
Traffic Safety ◽  
Autonomous Vehicles ◽  
State Of The Art ◽  
Semantic Interpretation ◽  
Behavior Prediction ◽  
Probabilistic Representation ◽  
Class Actions ◽  
The Future ◽  
Naturalistic Driving ◽  
Pedestrian Crossing

Accurate prediction of pedestrian crossing behaviors by autonomous vehicles can significantly improve traffic safety. Existing approaches often model pedestrian behaviors using trajectories or poses but do not offer a deeper semantic interpretation of a person's actions or how actions influence a pedestrian's intention to cross in the future. In this work, we follow the neuroscience and psychological literature to define pedestrian crossing behavior as a combination of an unobserved inner will (a probabilistic representation of binary intent of crossing vs. not crossing) and a set of multi-class actions (e.g., walking, standing, etc.). Intent generates actions, and the future actions in turn reflect the intent. We present a novel multi-task network that predicts future pedestrian actions and uses predicted future action as a prior to detect the present intent and action of the pedestrian. We also designed an attention relation network to incorporate external environmental contexts thus further improve intent and action detection performance. We evaluated our approach on two naturalistic driving datasets, PIE and JAAD, and extensive experiments show significantly improved and more explainable results for both intent detection and action prediction over state-of-the-art approaches. Our code is available at: https://github.com/umautobots/pedestrian_intent_action_detection

scholarly journals CAPformer: Pedestrian Crossing Action Prediction Using Transformer

Sensors ◽  
2021 ◽  
Vol 21 (17) ◽  
pp. 5694
Author(s):  
Javier Lorenzo ◽  
Ignacio Parra Alonso ◽  
Rubén Izquierdo ◽  
Augusto Luis Ballardini ◽  
Álvaro Hernández Saz ◽  
...  
Keyword(s):  
Language Processing ◽  
Autonomous Vehicles ◽  
State Of The Art ◽  
Image Data ◽  
Vehicle Speed ◽  
Action Prediction ◽  
Kinematic Data ◽  
Proposed Model ◽  
Temporal Models ◽  
Pedestrian Crossing

Anticipating pedestrian crossing behavior in urban scenarios is a challenging task for autonomous vehicles. Early this year, a benchmark comprising JAAD and PIE datasets have been released. In the benchmark, several state-of-the-art methods have been ranked. However, most of the ranked temporal models rely on recurrent architectures. In our case, we propose, as far as we are concerned, the first self-attention alternative, based on transformer architecture, which has had enormous success in natural language processing (NLP) and recently in computer vision. Our architecture is composed of various branches which fuse video and kinematic data. The video branch is based on two possible architectures: RubiksNet and TimeSformer. The kinematic branch is based on different configurations of transformer encoder. Several experiments have been performed mainly focusing on pre-processing input data, highlighting problems with two kinematic data sources: pose keypoints and ego-vehicle speed. Our proposed model results are comparable to PCPA, the best performing model in the benchmark reaching an F1 Score of nearly 0.78 against 0.77. Furthermore, by using only bounding box coordinates and image data, our model surpasses PCPA by a larger margin (F1=0.75 vs. F1=0.72). Our model has proven to be a valid alternative to recurrent architectures, providing advantages such as parallelization and whole sequence processing, learning relationships between samples not possible with recurrent architectures.

Edge conditions and crash-avoidance roles: the future of traffic safety in the world of autonomous vehicles

2018 ◽  
Vol 25 (2) ◽  
pp. 76-79 ◽  
Author(s):  
Megan S Ryerson ◽  
Jordan E Miller ◽  
Flaura K Winston
Keyword(s):  
Traffic Safety ◽  
Autonomous Vehicles ◽  
Crash Avoidance ◽  
The World ◽  
The Future ◽  
Edge Conditions

scholarly journals Percutaneous Mitral Edge-to-Edge Repair: State of the Art and a Glimpse to the Future

2019 ◽  
Vol 6 ◽  
Author(s):  
Faisal Khan ◽  
Mirjam Winkel ◽  
Geraldine Ong ◽  
Nicolas Brugger ◽  
Thomas Pilgrim ◽  
...  
Keyword(s):  
State Of The Art ◽  
The Future

scholarly journals Grasping Assisting Algorithm in Tele-Operated Robotic Gripper

2021 ◽  
Vol 11 (6) ◽  
pp. 2640
Author(s):  
Tomer Fine ◽  
Guy Zaidner ◽  
Amir Shapiro
Keyword(s):  
State Of The Art ◽  
Human Subjects ◽  
Quality Measures ◽  
Human Operator ◽  
Physical Presence ◽  
Complete State ◽  
The Future ◽  
Power Grasp ◽  
Grasp Quality

The involvement of Robots and automated machines in different industries has increased drastically in recent years. Part of this revolution is accomplishing tasks previously performed by humans with advanced robots, which would replace the entire human workforce in the future. In some industries the workers are required to complete different operations in hazardous or difficult environments. Operations like these could be replaced with the use of tele-operated systems that have the capability of grasping objects in their surroundings, thus abandoning the need for the physical presence of the human operator at the area while still allowing control. In this research our goal is to create an assisting system that would improve the grasping of a human operator using a tele-operated robotic gripper and arm, while advising the operator but not forcing a solution. For a given set of objects we computed the optimal grasp to be achieved by the gripper, based on two grasp quality measures of our choosing (namely power grasp and precision grasp). We then tested the performance of different human subjects who tried to grasp the different objects with the tele-operated system, while comparing their success to unassisted and assisted grasping. Our goal is to create an assisting algorithm that would compute optimal grasps and might be integrated into a complete, state-of-the-art tele-operated system.

The human-like trajectory planning for autonomous vehicles based on optimal control in a test track environment

2021 ◽  
pp. 095440702110090
Author(s):  
Xing Xu ◽  
Minglei Li ◽  
Feng Wang ◽  
Ju Xie ◽  
Xiaohan Wu ◽  
...  
Keyword(s):  
Optimal Control ◽  
Autonomous Vehicles ◽  
Optimal Trajectory ◽  
Control Method ◽  
Autonomous Vehicle ◽  
Trajectory Data ◽  
Test Track ◽  
Optimal Control Method ◽  
The Future ◽  
On The Road

A human-like trajectory could give a safe and comfortable feeling for the occupants in an autonomous vehicle especially in corners. The research of this paper focuses on planning a human-like trajectory along a section road on a test track using optimal control method that could reflect natural driving behaviour considering the sense of natural and comfortable for the passengers, which could improve the acceptability of driverless vehicles in the future. A mass point vehicle dynamic model is modelled in the curvilinear coordinate system, then an optimal trajectory is generated by using an optimal control method. The optimal control problem is formulated and then solved by using the Matlab tool GPOPS-II. Trials are carried out on a test track, and the tested data are collected and processed, then the trajectory data in different corners are obtained. Different TLCs calculations are derived and applied to different track sections. After that, the human driver’s trajectories and the optimal line are compared to see the correlation using TLC methods. The results show that the optimal trajectory shows a similar trend with human’s trajectories to some extent when driving through a corner although it is not so perfectly aligned with the tested trajectories, which could conform with people’s driving intuition and improve the occupants’ comfort when driving in a corner. This could improve the acceptability of AVs in the automotive market in the future. The driver tends to move to the outside of the lane gradually after passing the apex when driving in corners on the road with hard-lines on both sides.

Autonomous Vehicles’ Car-Following Drivability Evaluation Based on Driving Behavior Spectrum Reference Model

2021 ◽  
pp. 036119812199485
Author(s):  
Xiao Qi ◽  
Ying Ni ◽  
Yiming Xu ◽  
Ye Tian ◽  
Junhua Wang ◽  
...  
Keyword(s):  
Autonomous Vehicles ◽  
Reference Model ◽  
Numerical Test ◽  
Safety Evaluation ◽  
Driving Behavior ◽  
Car Following ◽  
Driving Behaviors ◽  
Human Driver ◽  
Normal Human ◽  
Naturalistic Driving

A large portion of the accidents involving autonomous vehicles (AVs) are not caused by the functionality of AV, but rather because of human intervention, since AVs’ driving behavior was not properly understood by human drivers. Such misunderstanding leads to dangerous situations during interaction between AV and human-driven vehicle (HV). However, few researches considered HV-AV interaction safety in AV safety evaluation processes. One of the solutions is to let AV mimic a normal HV’s driving behavior so as to avoid misunderstanding to the most extent. Therefore, to evaluate the differences of driving behaviors between existing AV and HV is necessary. DRIVABILITY is defined in this study to characterize the similarity between AV’s driving behaviors and expected behaviors by human drivers. A driving behavior spectrum reference model built based on human drivers’ behaviors is proposed to evaluate AVs’ car-following drivability. The indicator of the desired reaction time (DRT) is proposed to characterize the car-following drivability. Relative entropy between the DRT distribution of AV and that of the entire human driver population are used to quantify the differences between driving behaviors. A human driver behavior spectrum was configured based on naturalistic driving data by human drivers collected in Shanghai, China. It is observed in the numerical test that amongst all three types of preset AVs in the well-received simulation package VTD, the brisk AV emulates a normal human driver to the most extent (ranking at 55th percentile), while the default AV and the comfortable AV rank at 35th and 8th percentile, respectively.

scholarly journals The Effects of Mobility as a Service and Autonomous Vehicles on People’s Willingness to Own a Car in the Future

2021 ◽  
Vol 13 (4) ◽  
pp. 1962
Author(s):  
Timo Liljamo ◽  
Heikki Liimatainen ◽  
Markus Pöllänen ◽  
Riku Viri
Keyword(s):  
Public Transport ◽  
Autonomous Vehicles ◽  
Travel Behaviour ◽  
Car Ownership ◽  
Key Factors ◽  
Sustainable Mobility ◽  
Factors Affecting ◽  
Mobility Service ◽  
The Future ◽  
Mobility Behaviour

Car ownership is one of the key factors affecting travel behaviour and thus also essential in terms of sustainable mobility. This study examines car ownership and how people’s willingness to own a car may change in the future, when considering the effects of public transport, Mobility as a Service (MaaS) and automated vehicles (AVs). Results of two citizen surveys conducted with representative samples (NAV-survey = 2036; NMaaS-survey = 1176) of Finns aged 18–64 are presented. The results show that 39% of respondents would not want or need to own a car if public transport connections were good enough, 58% if the described mobility service was available and 65% if all vehicles in traffic were automated. Hence, car ownership can decrease as a result of the implementation of AVs and MaaS, and higher public transport quality of service. Current mobility behaviour has a strong correlation to car ownership, as respondents who use public transport frequently feel less of a will or need to own a car than others. Generally, women and younger people feel less of a will or need to own a car, but factors such as educational level and residential location seem to have a relatively low effect.

scholarly journals Analysis and Prediction of Pedestrians’ Violation Behavior at the Intersection Based on a Markov Chain

2021 ◽  
Vol 13 (10) ◽  
pp. 5690
Author(s):  
Chengyuan Mao ◽  
Lewen Bao ◽  
Shengde Yang ◽  
Wenjiao Xu ◽  
Qin Wang
Keyword(s):  
Markov Chain ◽  
Markov Chain Model ◽  
Warning System ◽  
Demographic Characteristics ◽  
Chain Model ◽  
Behavior Prediction ◽  
Road Geometry ◽  
Using Data ◽  
Pedestrian Crossing ◽  
Prediction Approach

Pedestrian violations pose a danger to themselves and other road users. Most previous studies predict pedestrian violation behaviors based only on pedestrians’ demographic characteristics. In practice, in addition to demographic characteristics, other factors may also impact pedestrian violation behaviors. Therefore, this study aims to predict pedestrian crossing violations based on pedestrian attributes, traffic conditions, road geometry, and environmental conditions. Data on the pedestrian crossing, both in compliance and in violation, were collected from 10 signalized intersections in the city of Jinhua, China. We propose an illegal pedestrian crossing behavior prediction approach that consists of a logistic regression model and a Markov Chain model. The former calculates the likelihood that the first pedestrian who decides to cross the intersection illegally within each signal cycle, while the latter computes the probability that the subsequent pedestrians who decides to follow the violation. The proposed approach was validated using data gathered from an additional signalized intersection in Jinhua city. The results show that the proposed approach has a robust ability in pedestrian violation behavior prediction. The findings can provide theoretical references for pedestrian signal timing, crossing facility optimization, and warning system design.

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