关键词：
Mechanical engineering
Robotics
Automotive engineering
Behavioral sciences
Artificial intelligence
摘要：
Robots are increasingly being developed for and used in human-centered environments, and there is a growing need to develop methods for safe human-robot interaction. Automated vehicles (AVs), a type of robot that has garnered much attention recently, can increase transport safety, efficiency, and accessibility. However, to realize these benefits, they need to be trusted and accepted by the general public. This dissertation focuses on the interaction between AVs and pedestrians, one of the most vulnerable types of road users. AVs are a novel technology, and thus the interaction dynamics between AVs and pedestrians are not clear. A major operational challenge for AVs is safe navigation in urban environments around pedestrians. To improve pedestrian trust in AVs, researchers typically develop motion planning methods that can guarantee safe operation. However, in addition to safety, other factors (environmental and behavioral) can influence trust in the AVs and, in turn, their acceptance. Typically, AVs employ a receding-horizon planning methodology, where they plan for a short horizon (1 − 2 s) while incorporating predictions of pedestrian trajectories to avoid potential collisions. The urban traffic environment is dynamic in nature and constantly changes with the location and the behaviors of the surrounding road agents. This requires the AV to plan in real time. The prediction and planning models, therefore, should be computationally efficient to enable real-time planning. A key challenge in AV planning is balancing safety and performance. Focusing only on safety can lead to highly conservative AV behaviors that are undesirable. Further, to gain public trust and acceptance, the AVs should demonstrate navigation capabilities that are both safe and trustworthy. Extending the prediction and planning horizons to a longer term (> 5 s) could aid the AV in developing such safe and trustworthy trajectories. This dissertation addresses two high-level research problems in the
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中文科技期刊
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