Negotiations between self-driving vehicles and pedestrians for the rights of way at unmarked intersections

Abstract

Negotiations among drivers and pedestrians are common on roads, but it is still challenging for a self-driving vehicle to negotiate for its right of way with other human road users, especially pedestrians. Currently, self-driving vehicles are expected to exhibit a conservative behavior by always yielding to the approaching pedestrians. This effect will slow down the future urban traffic significantly. In this thesis, a novel model of vehicle-pedestrian negotiation is proposed describing the processing and exchange of negotiation cues from both parties. The motion strategy for the vehicle approaching the pedestrian is formulated to negotiate its best chance to pass first. The research aims to..