Autonomous vehicles (AVs) must share space with pedestrians, both in carriageway cases such as cars at pedestrian crossings and off-carriageway cases such as delivery vehicles navigating through crowds on pedestrianized high-streets. Unlike static obstacles, pedestrians are active agents with complex, interactive motions. Planning AV actions in the presence of pedestrians thus requires modelling of their probable future behaviour as well as detecting and tracking them. This narrative review article is Part II of a pair, together surveying the current technology stack involved in this process, organising recent research into a hierarchical taxonomy ranging from low-level image detection to high-level psychological models, from the perspective of an AV designer. This self-contained Part II covers the higher levels of this stack, consisting of models of pedestrian behaviour, from prediction of individual pedestrians' likely destinations and paths, to game-theoretic models of interactions between pedestrians and autonomous vehicles. This survey clearly shows that, although there are good models for optimal walking behaviour, high-level psychological and social modelling of pedestrian behaviour still remains an open research question that requires many conceptual issues to be clarified. Early work has been done on descriptive and qualitative models of behaviour, but much work is still needed to translate them into quantitative algorithms for practical AV control.

中文翻译：

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自动驾驶的行人模型第二部分：人类行为的高级模型

自动驾驶汽车 (AV) 必须与行人共享空间，无论是在行人过路处的汽车等行车道情况下，还是在行人专用大街上穿过人群的送货车等非行车道情况下。与静态障碍物不同，行人是具有复杂交互运动的主动代理。因此，在有行人的情况下规划 AV 行动需要对他们可能的未来行为进行建模以及检测和跟踪他们。这篇叙述性评论文章是其中的第二部分，从 AV 设计师的角度，共同调查了这一过程中涉及的当前技术堆栈，组织了对从低级图像检测到高级心理模型的分层分类法的最新研究. 这个独立的第二部分涵盖了这个堆栈的更高级别，由行人行为模型组成，从预测单个行人可能的目的地和路径，到行人与自动驾驶汽车之间相互作用的博弈论模型。这项调查清楚地表明，尽管存在最佳步行行为的良好模型，但行人行为的高级心理和社会建模仍然是一个开放的研究问题，需要澄清许多概念问题。早期的工作已经在行为的描述性和定性模型上完成，但仍然需要做很多工作才能将它们转化为用于实际 AV 控制的定量算法。这项调查清楚地表明，尽管存在最佳步行行为的良好模型，但行人行为的高级心理和社会建模仍然是一个开放的研究问题，需要澄清许多概念问题。早期的工作已经在行为的描述性和定性模型上完成，但仍然需要做很多工作才能将它们转化为用于实际 AV 控制的定量算法。这项调查清楚地表明，尽管存在最佳步行行为的良好模型，但行人行为的高级心理和社会建模仍然是一个开放的研究问题，需要澄清许多概念问题。早期的工作已经在行为的描述性和定性模型上完成，但仍然需要做很多工作才能将它们转化为用于实际 AV 控制的定量算法。