Human Motion Trajectory Prediction: A Survey

With growing numbers of intelligent autonomous systems in human environments, the ability of such systems to perceive, understand and anticipate human behavior becomes increasingly important. Specifically, predicting future positions of dynamic agents and planning considering such predictions are key tasks for self-driving vehicles, service robots and advanced surveillance systems. This paper provides a survey of human motion trajectory prediction. We review, analyze and structure a large selection of work from different communities and propose a taxonomy that categorizes existing methods based on the motion modeling approach and level of contextual information used. We provide an overview of the existing datasets and performance metrics. We discuss limitations of the state of the art and outline directions for further research.Comment: Submitted to the International Journal of Robotics Research (IJRR), 37 page

Towards Social Autonomous Vehicles: Efficient Collision Avoidance Scheme Using Richardson's Arms Race Model

Background Road collisions and casualties pose a serious threat to commuters around the globe. Autonomous Vehicles (AVs) aim to make the use of technology to reduce the road accidents. However, the most of research work in the context of collision avoidance has been performed to address, separately, the rear end, front end and lateral collisions in less congested and with high inter-vehicular distances. Purpose The goal of this paper is to introduce the concept of a social agent, which interact with other AVs in social manners like humans are social having the capability of predicting intentions, i.e. mentalizing and copying the actions of each other, i.e. mirroring. The proposed social agent is based on a human-brain inspired mentalizing and mirroring capabilities and has been modelled for collision detection and avoidance under congested urban road traffic. Method We designed our social agent having the capabilities of mentalizing and mirroring and for this purpose we utilized Exploratory Agent Based Modeling (EABM) level of Cognitive Agent Based Computing (CABC) framework proposed by Niazi and Hussain. Results Our simulation and practical experiments reveal that by embedding Richardson's arms race model within AVs, collisions can be avoided while travelling on congested urban roads in a flock like topologies. The performance of the proposed social agent has been compared at two different levels.Comment: 48 pages, 21 figure

High-Resolution Road Vehicle Collision Prediction for the City of Montreal

Road accidents are an important issue of our modern societies, responsible for millions of deaths and injuries every year in the world. In Quebec only, in 2018, road accidents are responsible for 359 deaths and 33 thousands of injuries. In this paper, we show how one can leverage open datasets of a city like Montreal, Canada, to create high-resolution accident prediction models, using big data analytics. Compared to other studies in road accident prediction, we have a much higher prediction resolution, i.e., our models predict the occurrence of an accident within an hour, on road segments defined by intersections. Such models could be used in the context of road accident prevention, but also to identify key factors that can lead to a road accident, and consequently, help elaborate new policies. We tested various machine learning methods to deal with the severe class imbalance inherent to accident prediction problems. In particular, we implemented the Balanced Random Forest algorithm, a variant of the Random Forest machine learning algorithm in Apache Spark. Interestingly, we found that in our case, Balanced Random Forest does not perform significantly better than Random Forest. Experimental results show that 85% of road vehicle collisions are detected by our model with a false positive rate of 13%. The examples identified as positive are likely to correspond to high-risk situations. In addition, we identify the most important predictors of vehicle collisions for the area of Montreal: the count of accidents on the same road segment during previous years, the temperature, the day of the year, the hour and the visibility