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Interactions between vehicles and pedestrians have always been a majorproblem in traffic safety. Experienced human drivers are able to analyze theenvironment and choose driving strategies that will help them avoid crashes.What is not yet clear, however, is how automated vehicles will interact withpedestrians. This paper proposes a new method for evaluating the safety andfeasibility of the driving strategy of automated vehicles when encounteringunsignalized crossings. MobilEye sensors installed on buses in Ann Arbor,Michigan, collected data on 2,973 valid crossing events. A stochasticinteraction model was then created using a multivariate Gaussian mixture model.This model allowed us to simulate the movements of pedestrians reacting to anoncoming vehicle when approaching unsignalized crossings, and to evaluate thepassing strategies of automated vehicles. A simulation was then conducted todemonstrate the evaluation procedure.

Evaluation of Automated Vehicles Encountering Pedestrians at Unsignalized Crossings