Pedestrian trajectory prediction in crossing scenario using fuzzy logic and switching Kalman filter

Pedestrian trajectory prediction plays an important role in bothadvanced driving assistance system (ADAS) and autonomous vehicles. An algorithm for pedestrian trajectory prediction in crossing scenario is proposed. To obtain features of pedestrian motion, we develop a method for data labelling and pedestrian body orientation regression. Using the hierarchical features as domain of discourse, fuzzy logic rules are built to describe the transition between different pedestrian states and motion models. With derived probability of each type of motion model we further predict the pedestrian trajectory in the next 1.5 s using switching Kalman filter (KF). The proposed algorithm is further verified in our dataset, and the result indicates that the proposed algorithm successfully predicts pedestrian' s crossing behavior 0.4 s earlier before pedestrian moves. Meanwhile, the precision of predicted trajectory surpasses other methods including interacting multi-model KF and dynamic Bayesian network (DBN).