At the Traffic Intersection, Stopping, or Walking? Pedestrian Path Prediction Based on KPOF-GPDM for Driving Assistance

Figure 11

(a) Prediction probability of pedestrian walk. (b) Prediction probability of pedestrian stop. (c) Prediction probability of pedestrian walk. (d) Prediction probability of pedestrian stop. (a, b) The car is in a stopped state and is stopped in front of the sidewalk, and the probability of the state change at the pedestrian intersection and sidewalk is measured. (c, d) The car is in a state of motion, and when it is gradually approaching the sidewalk, we predict the probability of the pedestrian’s state change.

(a)

(b)

(c)

(d)