Analysis of pedestrian crossing behavior based on Centralized Unscented Kalman Filter and pedestrian awareness based social force model

Ziwei Wang, Pai Peng, Keke Geng, Xiaolong Cheng, Xiaoyuan Zhu, Jiansong Chen and Guodong Yin

Physica A: Statistical Mechanics and its Applications, 2023, vol. 632, issue P1

Abstract: With the development of autonomous driving, ensuring pedestrian safety has become a hot research topic. The traditional pedestrian crossing behavior research mostly track and predict pedestrian crossing from the view of vehicles, but do not have in-depth research on the impact of other elements in the traffic scene. This paper proposes a method for analyzing pedestrian crossing behavior based on roadside equipment for specific road sections. First, a pedestrian awareness-based social force model (PASFM) is proposed by introducing the factors that influence pedestrian crossing decisions in traffic scenarios into the social force model (SFM), including zebra crossings, fellow walkers and vehicles. To explore the psychological state of vehicles and pedestrians when they interact, evolutionary game theory is used to simulate the psychological characteristics of pedestrians when they encounter vehicles, and then reflect in the changes of the desired speed. Then Centralized Unscented Kalman Filter (CUKF) is proposed to complete the whole process of tracking and predicting the motion state of pedestrian crossing behavior, which uses PASFM as its prediction process. Finally, simulations and experiments are designed to show the effectiveness of our methods. Results show that the proposed method performs better during pedestrian tracking and can predict their crossing behavior to a certain extent.

Keywords: Pedestrian crossing behavior; Pedestrian awareness; Social force model; Evolutionary game theory; Centralized unscented Kalman filter (search for similar items in EconPapers)
Date: 2023
References: View references in EconPapers View complete reference list from CitEc
Citations: View citations in EconPapers (1)

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Persistent link: https://EconPapers.repec.org/RePEc:eee:phsmap:v:632:y:2023:i:p1:s0378437123009056

DOI: 10.1016/j.physa.2023.129350

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