UC San Diego

Autonomous vehicles face significant challenges in understanding pedestrian behavior, particularly in urban environments. The system must recognize pedestrians’ intentions and anticipate their actions to achieve intelligent driving. This paper focuses on predicting pedestrian crossings, aiming to enable oncoming vehicles to react in a timely manner. We investigate the effectiveness of various input modalities for pedestrian crossing prediction, including human poses, bounding boxes and ego vehicle speed features. We propose a novel lightweight architec- ture based on LSTM and attention to accurately identifying crossing pedestrians. Our methods evaluated on two widely used public datasets for pedestrian behavior, PIE and JAAD datasets,and our algorithm achieved a state-of-the-art performance in both datasets.