Pedestrian Trajectory Prediction in Pedestrian-Vehicle Mixed Environments: A Systematic Review

TL;DR

This systematic review analyzes methods for pedestrian trajectory prediction in mixed pedestrian-vehicle environments, emphasizing interaction effects, uncertainties, and behavioral factors to improve autonomous vehicle path planning.

Contribution

It provides a comprehensive review of existing models considering pedestrian-vehicle interactions, identifies research gaps, and suggests future directions for data collection and modeling improvements.

Findings

Reviewed 64 relevant articles on pedestrian-vehicle trajectory prediction.

Identified key variables affecting prediction accuracy and model performance.

Highlighted research gaps and proposed future research directions.

Abstract

Planning an autonomous vehicle's (AV) path in a space shared with pedestrians requires reasoning about pedestrians' future trajectories. A practical pedestrian trajectory prediction algorithm for the use of AVs needs to consider the effect of the vehicle's interactions with the pedestrians on pedestrians' future motion behaviours. In this regard, this paper systematically reviews different methods proposed in the literature for modelling pedestrian trajectory prediction in presence of vehicles that can be applied for unstructured environments. This paper also investigates specific considerations for pedestrian-vehicle interaction (compared with pedestrian-pedestrian interaction) and reviews how different variables such as prediction uncertainties and behavioural differences are accounted for in the previously proposed prediction models. PRISMA guidelines were followed. Articles that did not consider vehicle and pedestrian interactions or actual trajectories, and articles that only focused on road crossing were excluded. A total of 1260 unique peer-reviewed articles from ACM Digital Library, IEEE Xplore, and Scopus databases were identified in the search. 64 articles were included in the final review as they met the inclusion and exclusion criteria. An overview of datasets containing trajectory data of both pedestrians and vehicles used by the reviewed papers has been provided. Research gaps and directions for future work, such as having more effective definition of interacting agents in deep learning methods and the need for gathering more datasets of mixed traffic in unstructured environments are discussed.