自動運転車が無信号横断歩道で歩行者と遭遇する際の評価
Evaluation of Automated Vehicles Encountering Pedestrians at Unsignalized Crossings
ミシガン州アナーバーのバスに搭載したセンサで収集した2,973件の横断イベントから歩行者反応の確率モデルを構築し、無信号横断歩道における自動運転車の通過戦略の安全性を評価する手法を提案した。
著者: Baiming Chen, Ding Zhao, Huei Peng
分類: cs.MA, cs.RO, cs.SY, eess.SY
原文アブストラクト
Interactions between vehicles and pedestrians have always been a major problem in traffic safety. Experienced human drivers are able to analyze the environment and choose driving strategies that will help them avoid crashes. What is not yet clear, however, is how automated vehicles will interact with pedestrians. This paper proposes a new method for evaluating the safety and feasibility of the driving strategy of automated vehicles when encountering unsignalized crossings. MobilEye sensors installed on buses in Ann Arbor, Michigan, collected data on 2,973 valid crossing events. A stochastic interaction model was then created using a multivariate Gaussian mixture model. This model allowed us to simulate the movements of pedestrians reacting to an oncoming vehicle when approaching unsignalized crossings, and to evaluate the passing strategies of automated vehicles. A simulation was then conducted to demonstrate the evaluation procedure.
