Online Monitoring for Safe Pedestrian-Vehicle Interactions

Peter Du, Zhe Huang, Tianqi Liu, Tianchen Ji, Ke Xu, Qichao Gao, Hussein Sibai, Katherine Driggs-Campbell, Sayan Mitra

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

As autonomous systems begin to operate amongst humans, methods for safe interaction must be investigated. We consider an example of a small autonomous vehicle in a pedestrian zone that must safely maneuver around people in a free-form fashion. We investigate two key questions: How can we effectively integrate pedestrian intent estimation into our autonomous stack? Can we develop an online monitoring framework to give rigorous assurances on the safety of such human-robot interactions? We present a pedestrian intent estimation framework that can accurately predict future pedestrian trajectories given multiple possible goal locations. We integrate this into a reachability-based online monitoring and decision making scheme that formally assesses the safety of these interactions with nearly real-time performance (approximately 0. 1s). These techniques are both tested in simulation and integrated on a test vehicle with a complete in-house autonomous stack, demonstrating safe interaction in real-world experiments.

Original languageEnglish (US)
Title of host publication2020 IEEE 23rd International Conference on Intelligent Transportation Systems, ITSC 2020
PublisherInstitute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)9781728141497
DOIs
StatePublished - Sep 20 2020
Event23rd IEEE International Conference on Intelligent Transportation Systems, ITSC 2020 - Rhodes, Greece
Duration: Sep 20 2020Sep 23 2020

Publication series

Name2020 IEEE 23rd International Conference on Intelligent Transportation Systems, ITSC 2020

Conference

Conference23rd IEEE International Conference on Intelligent Transportation Systems, ITSC 2020
Country/TerritoryGreece
CityRhodes
Period9/20/209/23/20

ASJC Scopus subject areas

  • Artificial Intelligence
  • Decision Sciences (miscellaneous)
  • Information Systems and Management
  • Modeling and Simulation
  • Education

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