Pedestrian intention estimation and trajectory prediction based on data and knowledge‐driven method

Abstract

Abstract With the development of deep learning technology, the problem of data‐driven trajectory prediction and intention recognition has been widely studied. However, the pedestrian trajectory prediction and intention recognition methods based solely on data‐driven have weak data description ability and black‐box characteristics, which cannot reason about pedestrian crossing intention and predict pedestrian crossing trajectory as humans do. To address the above problems, the authors proposed a data and knowledge‐driven pedestrian intention estimation and trajectory prediction method by imitating human cognitive mechanisms. In the pedestrian intention inference process, the authors adopted the knowledge‐driven method. As a first step, the authors built a knowledge graph of pedestrian crossing scenes, and then paired it with a Bayesian network to estimate pedestrian crossing intentions. In the pedestrian trajectory prediction process, the authors used a data‐driven approach, combining pedestrian crossing trajectory features and knowledge‐based pedestrian intentions. Experiments show that all evaluation metrics of pedestrian trajectory prediction were improved after adding pedestrian intentions obtained by knowledge‐driven.

Keywords

• autonomous driving
• Bayes methods
• intelligent transportation systems
• pedestrians
• prediction theory
• road safety