How To Evaluate the Navigation of Autonomous Vehicles Around Pedestrians?
The navigation of autonomous vehicles around pedestrians is a key challenge when driving in urban environments. It is essential to test the proposed navigation system using simulation before moving to real-life implementation and testing. Evaluating the performance of the system requires the design...
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| Veröffentlicht in: | IEEE transactions on intelligent transportation systems 2024-03, Vol.25 (3), p.1-11 |
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| creator | Kabtoul, Maria Predhumeau, Manon Spalanzani, Anne Dugdale, Julie Martinet, Philippe |
| description | The navigation of autonomous vehicles around pedestrians is a key challenge when driving in urban environments. It is essential to test the proposed navigation system using simulation before moving to real-life implementation and testing. Evaluating the performance of the system requires the design of a diverse set of tests which spans the targeted working scenarios and conditions. These tests can then undergo a process of evaluation using a set of adapted performance metrics. This work addresses the problem of performance evaluation for an autonomous vehicle in a shared space with pedestrians. The methodology for designing the test simulations is discussed. Moreover, a group of performance metrics is proposed to evaluate the different aspects of the navigation: the motion safety, the quality of the generated trajectory and the comfort of the pedestrians surrounding the vehicle. Furthermore, the success/fail criterion for each metric is discussed. The implementation of the proposed evaluation method is illustrated by evaluating the performance of a pre-designed proactive navigation system using a shared space crowd simulator under Robot Operating System (ROS). |
| doi_str_mv | 10.1109/TITS.2023.3323662 |
| format | Article |
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| subjects | Automatic Autonomous navigation Autonomous vehicles Autonomous vehicles, navigation evaluation, shared spaces, simulation and testing Business metrics Cognitive science Computer science Engineering Sciences Measurement Navigation navigation evaluation Navigation systems Pedestrians Performance evaluation Performance measurement Safety shared spaces Simulation simulation and testing Space vehicles Testing Trajectory Urban environments |
| title | How To Evaluate the Navigation of Autonomous Vehicles Around Pedestrians? |
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