A Computationally Efficient Model for Pedestrian Motion Prediction

Ivo Batkovic, Mario Zanon, Nils Lubbe, Paolo Falcone

We present a mathematical model to predict pedestrian motion over a finite horizon, intended for use in collision avoidance algorithms for autonomous driving. The model is based on a road map structure, and assumes a rational pedestrian behavior. We compare our model with the state-of-the art and discuss its accuracy, and limitations, both in simulations and in comparison to real data.

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