Human crowds base most of their behavioral decisions upon anticipated states
of their walking environment. We explore a minimal version of a lattice model
to study lanes formation in pedestrian counterflow. Using the concept of
horizon depth, our simulation results suggest that the anticipation effect
together with the presence of a small background noise play an important role
in promoting collective behaviors in a counterflow setup. These ingredients
facilitate the formation of seemingly stable lanes and ensure the ergodicity of
the system
