Pedestrian Models for Autonomous Driving Part II: High-Level Models of Human Behavior

Abstract—Autonomous vehicles (AVs) must share space with pedestrians, both in carriageway cases such as cars at pedestrian crossings and off-carriageway cases such as delivery vehicles navigating through crowds on pedestrianized high-streets. Unlike static obstacles, pedestrians are active agents with complex, inter- active motions. Planning AV actions in the presence of pedestrians thus requires modelling of their probable future behaviour as well as detecting and tracking them. This narrative review article is Part II of a pair, together surveying the current technology stack involved in this process, organising recent research into a hierarchical taxonomy ranging from low-level image detection to high-level psychological models, from the perspective of an AV designer. This self-contained Part II covers the higher levels of this stack, consisting of models of pedestrian behaviour, from prediction of individual pedestrians’ likely destinations and paths, to game-theoretic models of interactions between pedestrians and autonomous vehicles. This survey clearly shows that, although there are good models for optimal walking behaviour, high-level psychological and social modelling of pedestrian behaviour still remains an open research question that requires many conceptual issues to be clarified. Early work has been done on descriptive and qualitative models of behaviour, but much work is still needed to translate them into quantitative algorithms for practical AV control

Adaptive Path Planning for Depth Constrained Bathymetric Mapping with an Autonomous Surface Vessel

This paper describes the design, implementation and testing of a suite of algorithms to enable depth constrained autonomous bathymetric (underwater topography) mapping by an Autonomous Surface Vessel (ASV). Given a target depth and a bounding polygon, the ASV will find and follow the intersection of the bounding polygon and the depth contour as modeled online with a Gaussian Process (GP). This intersection, once mapped, will then be used as a boundary within which a path will be planned for coverage to build a map of the Bathymetry. Methods for sequential updates to GP's are described allowing online fitting, prediction and hyper-parameter optimisation on a small embedded PC. New algorithms are introduced for the partitioning of convex polygons to allow efficient path planning for coverage. These algorithms are tested both in simulation and in the field with a small twin hull differential thrust vessel built for the task.Comment: 21 pages, 9 Figures, 1 Table. Submitted to The Journal of Field Robotic

Improving Pathways to Transit for Persons with Disabilities

Persons with disabilities can achieve a greater degree of freedom when they have full access to a variety of transit modes, but this can only be achieved when the pathways to transit – the infrastructure and conditions in the built environment – allow full access to transit stops, stations, and vehicles. Since passage of the Americans with Disabilities Act (ADA) in 1990, many transit agencies and governmental jurisdictions have made significant progress in this area. Policy initiatives, incremental enhancements, modifications, and other measures undertaken by transit agencies and their partners have significantly improved access to transit for persons with disabilities, others who rely on public transportation, and individuals who chose to utilize these services. This research study explores, through case study work, efforts that have been effective in improving pathways to transit. Interviews and site visits were conducted with five transit agencies, along with their partners, that are actively engaged in improving pathways to connect transit consumers – particularly people with disabilities – with transit stations and stops. These agencies are: Broward County Transit (Broward County, FL), Memphis Area Transit Authority (Memphis, TN), NJ TRANSIT (Newark and New Brunswick, NJ), Tri-County Metropolitan Transportation District of Oregon (Portland, OR), and Link Transit (Wenatchee, WA). Promising practices and/or lessons were identified through the case study analysis; these should be considered by any transit agency seeking to create improved access to its services for persons with disabilities

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Internet of robotic things : converging sensing/actuating, hypoconnectivity, artificial intelligence and IoT Platforms

The Internet of Things (IoT) concept is evolving rapidly and influencing newdevelopments in various application domains, such as the Internet of MobileThings (IoMT), Autonomous Internet of Things (A-IoT), Autonomous Systemof Things (ASoT), Internet of Autonomous Things (IoAT), Internetof Things Clouds (IoT-C) and the Internet of Robotic Things (IoRT) etc.that are progressing/advancing by using IoT technology. The IoT influencerepresents new development and deployment challenges in different areassuch as seamless platform integration, context based cognitive network integration,new mobile sensor/actuator network paradigms, things identification(addressing, naming in IoT) and dynamic things discoverability and manyothers. The IoRT represents new convergence challenges and their need to be addressed, in one side the programmability and the communication ofmultiple heterogeneous mobile/autonomous/robotic things for cooperating,their coordination, configuration, exchange of information, security, safetyand protection. Developments in IoT heterogeneous parallel processing/communication and dynamic systems based on parallelism and concurrencyrequire new ideas for integrating the intelligent “devices”, collaborativerobots (COBOTS), into IoT applications. Dynamic maintainability, selfhealing,self-repair of resources, changing resource state, (re-) configurationand context based IoT systems for service implementation and integrationwith IoT network service composition are of paramount importance whennew “cognitive devices” are becoming active participants in IoT applications.This chapter aims to be an overview of the IoRT concept, technologies,architectures and applications and to provide a comprehensive coverage offuture challenges, developments and applications

iDriving: Toward Safe and Efficient Infrastructure-directed Autonomous Driving

Autonomous driving will become pervasive in the coming decades. iDriving improves the safety of autonomous driving at intersections and increases efficiency by improving traffic throughput at intersections. In iDriving, roadside infrastructure remotely drives an autonomous vehicle at an intersection by offloading perception and planning from the vehicle to roadside infrastructure. To achieve this, iDriving must be able to process voluminous sensor data at full frame rate with a tail latency of less than 100 ms, without sacrificing accuracy. We describe algorithms and optimizations that enable it to achieve this goal using an accurate and lightweight perception component that reasons on composite views derived from overlapping sensors, and a planner that jointly plans trajectories for multiple vehicles. In our evaluations, iDriving always ensures safe passage of vehicles, while autonomous driving can only do so 27% of the time. iDriving also results in 5x lower wait times than other approaches because it enables traffic-light free intersections

The diabolic highway: On the tradition of the beautiful road in the Dutch landscape and the appetite for the magnificent highway in the big city

The highways of the Netherlands are used intensively, yet most of us are unable to summon up as much appreciation for them as we can for an attractive square, park or landscape. Highways may well be component parts of our public space, but they are not part of our aesthetic culture. From the history of the landscape we know that the impressionability of the poet and the depiction of the painting were needed to train the gaze. Appreciation follows representation. Is there a schematic organisation of visual perception that could assume the role of yesteryear’s landscape painting in the present day? Here and there voices tenaciously proclaim that no aesthetic principles are applied in the laying of highways in the Netherlands, and that the road is purely the product of the art of engineering and the immanent logic of its technology. In the essay this myth is unmasked and brings an almost forgotten dimension into the limelight: the aesthetic design. Immediately after the Second World War, the engineer K.E. Huizinga explicitly gave shape to an aesthetic theory for the highway. So the design of highways in the Netherlands does indeed boast an aesthetic tradition of no small measure. Therein Huizinga’s ‘spatially expressive approach’, the Dutch heir of the parkway and the Autobahn, has proven to be the leitmotif that courses from the beginnings right through to the present day. The parkway has found its counterpart in terms of landscape in the autonomous motorway. Aesthetic as well as sublime ideals of beauty are, however, carried to the grave by the urban counterpart, the highway in the big city: the Diabolical Highway. Take, for example, the Boulevard Périphérique in Paris, which is a Diabolical Highway without compare. We cast our minds back to Siegfried Giedion. The parkway, his parkway, as the backbone of a new city planning, gives the motorist the uplifting feeling of rust calm and freedom. The Diabolical Highway is, however, anything but that. There is no calm rust and everything is coincidental. They are roads in overly tight spaces, hectic experiences, but also metropolitan experiences. The essay makes a distinction between three types of highway, each of which is elucidated by an example: the parkway, the autonomous motorway and the diabolical highway. Thus in the design of the urban highway lies the greatest challenge, and as yet few principles have been devised for it