Automated Vehicle Behavior Design for Pedestrian Interactions at Unsignalized Crosswalks

A significant challenge for real-world deployment of automated vehicles (AVs) is their safe interaction with other road users, particularly pedestrians, whose behavior can change almost instantaneously. To ensure safety, AVs are expected to drive cautiously around pedestrians. However, conservative AV encourage pedestrians be careless. Additionally, riders inside the expect a comfortable ride and reach destinations  without excessive delay (AV performance). These objectives performance, comfort opposing in nature thus have balanced way that accepted by both For example, case pedestrian crossing at an unsignalized crosswalk, might want prioritize normally gradually slow down stop, but school zone safety stronger deceleration. Existing approach fixing weights constrictive as reality, vary depending on situation. overcome this limitation, we incorporated hybrid systems model interactive depends vehicle (distance speed). Our findings suggest possibility characterizing driving behaviors varying objectives. We believe understanding objective performance different model, AV-decision making expressed function. The primary contribution research evaluation spectrum represented weight combinations three – comfort.