Adaptive Interaction Field Framework for Risk-Aware Navigation of Driverless Minibus in Pedestrian Zones

Qazi Jan, Karsten Berns

2025

Abstract

In complex pedestrian zones, the navigation of driverless minibuses faces significant challenges due to varying environmental structures and pedestrian behavior. These zones range from organized pathways to open, unstructured spaces with minimal navigational cues. To address this, dynamic interaction fields are developed around the driverless minibus, adapting in size and shape to real-time movements. To achieve a similar representation as vehicle, interaction fields are developed that incorporate pedestrian unawareness. These virtual fields facilitate safer and more intuitive interactions between vehicles and pedestrians by incorporating real-time pedestrian awareness and activity data. The proposed model assesses risk by aggregating grid values from overlapping zones between pedestrians and driverless minibus, computing potential encounters based on spatial positions and awareness levels. A gradient-based heat map visualizes risk, highlighting areas where interaction with pedestrians is needed. This adaptive approach enables the decision-making module to initiate appropriate responses, such as escape maneuvers or interaction mode activation, based on risk thresholds. The interaction field further classifies risk into ambient, direct, or critical levels, guiding the system’s reactions. This framework enhances safety protocols and situational awareness in diverse urban environments. The vehicle was able to drive and interaction in a better way with enabled interaction fields. Based on these risk values, various interaction modules were activated, facilitating meaningful and context-aware interactions with pedestrians.

Paper Citation

in Harvard Style

Jan Q. and Berns K. (2025). Adaptive Interaction Field Framework for Risk-Aware Navigation of Driverless Minibus in Pedestrian Zones. In Proceedings of the 11th International Conference on Vehicle Technology and Intelligent Transport Systems - Volume 1: VEHITS; ISBN 978-989-758-745-0, SciTePress, pages 382-389. DOI: 10.5220/0013221400003941

in Bibtex Style

@conference{vehits25,
author={Qazi Jan and Karsten Berns},
title={Adaptive Interaction Field Framework for Risk-Aware Navigation of Driverless Minibus in Pedestrian Zones},
booktitle={Proceedings of the 11th International Conference on Vehicle Technology and Intelligent Transport Systems - Volume 1: VEHITS},
year={2025},
pages={382-389},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0013221400003941},
isbn={978-989-758-745-0},
}

in EndNote Style

TY - CONF

JO - Proceedings of the 11th International Conference on Vehicle Technology and Intelligent Transport Systems - Volume 1: VEHITS
TI - Adaptive Interaction Field Framework for Risk-Aware Navigation of Driverless Minibus in Pedestrian Zones
SN - 978-989-758-745-0
AU - Jan Q.
AU - Berns K.
PY - 2025
SP - 382
EP - 389
DO - 10.5220/0013221400003941
PB - SciTePress