As safe and comfortable interactions with pedestrians could contribute to automated vehicles' (AVs) social acceptance and scale, increasing attention has been drawn to computational pedestrian behavior models. However, very limited studies characterize pedestrian crossing behavior based on specific behavioral mechanisms, as those mechanisms underpinning pedestrian road behavior are not yet clear. Here, we reinterpret pedestrian crossing behavior based on a deconstructed crossing decision process at uncontrolled intersections with continuous traffic. Notably, we explain and model pedestrian crossing behavior as they wait for crossing opportunities, optimizing crossing decisions by comparing the visual collision risk of approaching vehicles around them. A collision risk-based crossing initiation model is proposed to characterize the time-dynamic nature of pedestrian crossing decisions. A simulation tool is established to reproduce pedestrian behavior by employing the proposed model and a social force model. Two datasets collected in a CAVE-based immersive pedestrian simulator are applied to calibrate and validate the model. The model predicts pedestrian crossing decisions across all traffic scenarios well. In particular, by considering the decision strategy that pedestrians compare the collision risk of surrounding traffic gaps, model performance is significantly improved. Moreover, the collision risk-based crossing initiation model accurately captures the timing of pedestrian crossing initiations within each gap. This work concisely demonstrates how pedestrians dynamically adapt their crossings in continuous traffic based on perceived collision risk, potentially providing insights into modeling coupled human-AV interactions or serving as a tool to realize human-like pedestrian road behavior in virtual AVs test platforms.
翻译:由于与行人的安全和舒适互动有助于自动车辆(AVs)的社会接受和规模,因此人们越来越注意计算行人行为模型;然而,对基于特定行为机制的行人跨行行为的研究非常有限,因为作为行人道路行为基础的机制尚不清楚;在这里,我们重新解释行人跨行人行为,其依据是在不受控制的十字路口不受控制的十字路口和连续交通交通的分解的跨行人决定程序;值得注意的是,我们解释行人跨行人行为,并模拟行人跨行人行为的行为,以等待过境机会,通过比较接近行人车辆的视觉碰撞风险优化过境决定;提议基于碰撞风险的跨行人行为启动模式,以体现行人跨行人行为的时间动态特性;此外,基于碰撞风险风险的跨行人跨行车行为模拟工具,在行人跨行人跨行人行驶风险方面,为行人行人跨行驶风险定位工具,在行人跨行驶风险方面,以行人行人行驶风险风险定位模型为基础,从而将行人跨行人跨行人跨风险定位。