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The development of autonomous vehicles presents significant challenges, particularly in predicting pedestrian behaviors. This study addresses the critical issue of uncertainty in such predictions by distinguishing between aleatoric (intrinsic randomness) and epistemic (knowledge limitations) uncertainties. Using evidential deep learning (EDL) techniques, we analyze these uncertainties in two key pedestrian behaviors: road crossing and short-term movement prediction. Our findings indicate that epistemic uncertainty is consistently higher than aleatoric uncertainty, highlighting the greater difficulty in predicting pedestrian actions due to limited information. Additionally, both types of uncertainties are more pronounced in crossing predictions compared to destination predictions, underscoring the complexity of future-oriented behaviors. These insights emphasize the necessity for AV algorithms to account for different levels of behavior-related uncertainties, ultimately enhancing the safety and efficiency of autonomous driving systems. This research contributes to a deeper understanding of pedestrian behavior prediction and lays the groundwork for future studies to explore scenario-specific uncertainty factors.
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TrEP: Transformer-Based Evidential Prediction for Pedestrian Intention with Uncertainty
With rapid development in hardware (sensors and processors) and AI algorithms, automated driving techniques have entered the public’s daily life and achieved great success in supporting human driving performance. However, due to the high contextual variations and temporal dynamics in pedestrian behaviors, the interaction between autonomous-driving cars and pedestrians remains challenging, impeding the development of fully autonomous driving systems. This paper focuses on predicting pedestrian intention with a novel transformer-based evidential prediction (TrEP) algorithm. We develop a transformer module towards the temporal correlations among the input features within pedestrian video sequences and a deep evidential learning model to capture the AI uncertainty under scene complexities. Experimental results on three popular pedestrian intent benchmarks have verified the effectiveness of our proposed model over the state-of-the-art. The algorithm performance can be further boosted by controlling the uncertainty level. We systematically compare human disagreements with AI uncertainty to further evaluate AI performance in confusing scenes. The code is released at https://github.com/zzmonlyyou/TrEP.git.
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- PAR ID:
- 10434486
- Date Published:
- Journal Name:
- Proceedings of the AAAI Conference on Artificial Intelligence
- Volume:
- 37
- Issue:
- 3
- ISSN:
- 2159-5399
- Page Range / eLocation ID:
- 3534 to 3542
- Format(s):
- Medium: X
- Sponsoring Org:
- National Science Foundation
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- Free Publicly Accessible Full Text
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Accepted Manuscript1.0
- Journal Article:
- https://doi.org/10.1609/aaai.v37i3.25463
