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Towards Incorporating Pedestrian Intention Predictions Into Behavior Planning Using Virtual Reality Co-Simulators
Computer Engineering Department, University of Alcalá, Madrid, Spain.ORCID iD: 0000-0003-2352-8310
Computer Engineering Department, University of Alcalá, Madrid, Spain; Honda Research Institute Europe GmbH, Offenbach, Germany.
Computer Engineering Department, University of Alcalá, Madrid, Spain.ORCID iD: 0000-0003-2330-1001
Swedish National Road and Transport Research Institute, Traffic and road users, Vehicle Systems and Driving Simulation..ORCID iD: 0000-0003-4951-5315
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2025 (English)In: 2025 IEEE Intelligent Vehicles Symposium (IV), IEEE, 2025, p. 2571-2576Conference paper, Published paper (Other academic)
Abstract [en]

Interaction modeling plays a huge role in understanding human behavior in traffic. This is especially relevant when it comes to interactions between vehicles and vulnerable road users such as pedestrians. Thus, pedestrian intention prediction is an ongoing field of research in order to understand the pedestrians' decision making. Most state-of-the-art prediction frameworks are trained on large-scale datasets and evaluated with respect to acknowledged benchmarks. These datasets lack the ability to account for the reciprocal nature of interactions between pedestrians and vehicles and the effects of the two agents influencing each other. In this work, we demonstrate first steps towards assessing pedestrian prediction algorithms within realistic scenarios including the interaction effects arising from its interplay with a planning component. For this, we validate an existing prediction framework trained on benchmark datasets with situations from a virtual reality (VR) pedestrian-vehicle co-simulator that allows us to include the effect of vehicle planning on pedestrian behavior. We evaluate the performance of the prediction framework comparing data from pre-recorded real-world datasets with data from our co-simulation study and conduct an ablation analysis to identify the most important features for pedestrian intention prediction. The results highlight the significance of pedestrian action and proximity to the road. 

Place, publisher, year, edition, pages
IEEE, 2025. p. 2571-2576
Series
IEEE Intelligent Vehicles Symposium, E-ISSN 2642-7214
Keywords [en]
Pedestrian-Vehicle Interaction, Pedestrian Prediction, Virtual Reality Co-Simulation
National Category
Transport Systems and Logistics
Identifiers
URN: urn:nbn:se:vti:diva-22166DOI: 10.1109/iv64158.2025.11097738Scopus ID: 2-s2.0-105014240242OAI: oai:DiVA.org:vti-22166DiVA, id: diva2:1995563
Conference
36th IEEE Intelligent Vehicles Symposium, Cluj-Napoca, Romania, June 22-25, 2025.
Available from: 2025-09-05 Created: 2025-09-05 Last updated: 2025-09-11Bibliographically approved

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Aramrattana, Maytheewat

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Melo, Angie NatalySalinas, CarlotaAramrattana, MaytheewatWeisswange, Thomas H.Probst, MalteSotelo, Miguel Ángel
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