Pedestrians Walking on Reachable Sets and Manifolds

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Abstract

It is a challenge to find safe trajectories for automated vehicles. Especially in urban environments with pedestrians there exist many different situations. The prediction of future movements with absolute certainty is impossible if the intention of the pedestrian is unknown. This paper is intended to offer a new concept of decision-making for motion planning with vulnerable road-users in urban environments. Reachability analysis is used to define spatial areas based on physical constraints, where the pedestrian might go. The approach is physically inspired and it can be proven for all kind of pedestrians. A new approach to cluster spatial areas is introduced to store specific environmental information about the pedestrian. The maximum values for jerk, acceleration and velocity of the pedestrian are necessary to find reachable areas.

Original languageEnglish
Title of host publicationProceedings - 2019 IEEE International Conference on Mechatronics, ICM 2019
PublisherInstitute of Electrical and Electronics Engineers
Pages562-569
Number of pages8
ISBN (Electronic)9781538669594
DOIs
Publication statusPublished - 24 May 2019
Event2019 IEEE International Conference on Mechatronics, ICM 2019 - Ilmenau, Germany
Duration: 18 Mar 201920 Mar 2019

Publication series

NameProceedings - 2019 IEEE International Conference on Mechatronics, ICM 2019

Conference

Conference2019 IEEE International Conference on Mechatronics, ICM 2019
CountryGermany
CityIlmenau
Period18/03/1920/03/19

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Keywords

  • Automated Vehicles
  • Machine Learning
  • Motion Planning
  • Pedestrian
  • Reachability Analysis
  • Safety
  • Vehicles

ASJC Scopus subject areas

  • Artificial Intelligence
  • Human-Computer Interaction
  • Automotive Engineering
  • Mechanical Engineering
  • Control and Optimization
  • Industrial and Manufacturing Engineering

Cite this

Hartmann, M., & Watzenig, D. (2019). Pedestrians Walking on Reachable Sets and Manifolds. In Proceedings - 2019 IEEE International Conference on Mechatronics, ICM 2019 (pp. 562-569). [8722888] (Proceedings - 2019 IEEE International Conference on Mechatronics, ICM 2019). Institute of Electrical and Electronics Engineers. https://doi.org/10.1109/ICMECH.2019.8722888