@article{lincoln44566,
          volume = {78},
           month = {April},
          author = {Fanta Camara and Patrick Dickinson and Charles Fox},
           title = {Evaluating Pedestrian Interaction Preferences with a Game Theoretic Autonomous Vehicle in Virtual Reality},
       publisher = {Elsevier},
            year = {2021},
         journal = {Transportation Research Part F},
             doi = {10.1016/j.trf.2021.02.017},
           pages = {410--423},
        keywords = {ARRAY(0x56546f015998)},
             url = {https://eprints.lincoln.ac.uk/id/eprint/44566/},
        abstract = {Abstract: Localisation and navigation of autonomous vehicles (AVs) in static environments are now solved
problems, but how to control their interactions with other road users in mixed traffic environments, especially
with pedestrians, remains an open question. Recent work has begun to apply game theory to model and control
AV-pedestrian interactions as they compete for space on the road whilst trying to avoid collisions. But this game
theory model has been developed only in unrealistic lab environments. To improve their realism, this study
empirically examines pedestrian behaviour during road crossing in the presence of approaching autonomous
vehicles in more realistic virtual reality (VR) environments. The autonomous vehicles are controlled using game
theory, and this study seeks to find the best parameters for these controls to produce comfortable interactions
for the pedestrians. In a first experiment, participants? trajectories reveal a more cautious crossing behaviour in
VR than in previous laboratory experiments. In two further experiments, a gradient descent approach is used to
investigate participants? preference for AV driving style. The results show that the majority of participants were
not expecting the AV to stop in some scenarios, and there was no change in their crossing behaviour in two
environments and with different car models suggestive of car and last-mile style vehicles. These results provide
some initial estimates for game theoretic parameters needed by future AVs in their pedestrian interactions and
more generally show how such parameters can be inferred from virtual reality experiments.}
}

{"_id":"j7zZ9JWE4PDD6QocA","bibbaseid":"camara-dickinson-fox-evaluatingpedestrianinteractionpreferenceswithagametheoreticautonomousvehicleinvirtualreality-2021","author_short":["Camara, F.","Dickinson, P.","Fox, C."],"bibdata":{"bibtype":"article","type":"article","volume":"78","month":"April","author":[{"firstnames":["Fanta"],"propositions":[],"lastnames":["Camara"],"suffixes":[]},{"firstnames":["Patrick"],"propositions":[],"lastnames":["Dickinson"],"suffixes":[]},{"firstnames":["Charles"],"propositions":[],"lastnames":["Fox"],"suffixes":[]}],"title":"Evaluating Pedestrian Interaction Preferences with a Game Theoretic Autonomous Vehicle in Virtual Reality","publisher":"Elsevier","year":"2021","journal":"Transportation Research Part F","doi":"10.1016/j.trf.2021.02.017","pages":"410–423","keywords":"ARRAY(0x56546f015998)","url":"https://eprints.lincoln.ac.uk/id/eprint/44566/","abstract":"Abstract: Localisation and navigation of autonomous vehicles (AVs) in static environments are now solved problems, but how to control their interactions with other road users in mixed traffic environments, especially with pedestrians, remains an open question. Recent work has begun to apply game theory to model and control AV-pedestrian interactions as they compete for space on the road whilst trying to avoid collisions. But this game theory model has been developed only in unrealistic lab environments. To improve their realism, this study empirically examines pedestrian behaviour during road crossing in the presence of approaching autonomous vehicles in more realistic virtual reality (VR) environments. The autonomous vehicles are controlled using game theory, and this study seeks to find the best parameters for these controls to produce comfortable interactions for the pedestrians. In a first experiment, participants? trajectories reveal a more cautious crossing behaviour in VR than in previous laboratory experiments. In two further experiments, a gradient descent approach is used to investigate participants? preference for AV driving style. The results show that the majority of participants were not expecting the AV to stop in some scenarios, and there was no change in their crossing behaviour in two environments and with different car models suggestive of car and last-mile style vehicles. These results provide some initial estimates for game theoretic parameters needed by future AVs in their pedestrian interactions and more generally show how such parameters can be inferred from virtual reality experiments.","bibtex":"@article{lincoln44566,\n volume = {78},\n month = {April},\n author = {Fanta Camara and Patrick Dickinson and Charles Fox},\n title = {Evaluating Pedestrian Interaction Preferences with a Game Theoretic Autonomous Vehicle in Virtual Reality},\n publisher = {Elsevier},\n year = {2021},\n journal = {Transportation Research Part F},\n doi = {10.1016/j.trf.2021.02.017},\n pages = {410--423},\n keywords = {ARRAY(0x56546f015998)},\n url = {https://eprints.lincoln.ac.uk/id/eprint/44566/},\n abstract = {Abstract: Localisation and navigation of autonomous vehicles (AVs) in static environments are now solved\r\nproblems, but how to control their interactions with other road users in mixed traffic environments, especially\r\nwith pedestrians, remains an open question. Recent work has begun to apply game theory to model and control\r\nAV-pedestrian interactions as they compete for space on the road whilst trying to avoid collisions. But this game\r\ntheory model has been developed only in unrealistic lab environments. To improve their realism, this study\r\nempirically examines pedestrian behaviour during road crossing in the presence of approaching autonomous\r\nvehicles in more realistic virtual reality (VR) environments. The autonomous vehicles are controlled using game\r\ntheory, and this study seeks to find the best parameters for these controls to produce comfortable interactions\r\nfor the pedestrians. In a first experiment, participants? trajectories reveal a more cautious crossing behaviour in\r\nVR than in previous laboratory experiments. In two further experiments, a gradient descent approach is used to\r\ninvestigate participants? preference for AV driving style. The results show that the majority of participants were\r\nnot expecting the AV to stop in some scenarios, and there was no change in their crossing behaviour in two\r\nenvironments and with different car models suggestive of car and last-mile style vehicles. These results provide\r\nsome initial estimates for game theoretic parameters needed by future AVs in their pedestrian interactions and\r\nmore generally show how such parameters can be inferred from virtual reality experiments.}\n}\n\n","author_short":["Camara, F.","Dickinson, P.","Fox, C."],"key":"lincoln44566","id":"lincoln44566","bibbaseid":"camara-dickinson-fox-evaluatingpedestrianinteractionpreferenceswithagametheoreticautonomousvehicleinvirtualreality-2021","role":"author","urls":{"Paper":"https://eprints.lincoln.ac.uk/id/eprint/44566/"},"keyword":["ARRAY(0x56546f015998)"],"metadata":{"authorlinks":{}}},"bibtype":"article","biburl":"https://eprints.lincoln.ac.uk/cgi/search/archive/advanced/export_lincoln_BibTeX.bib?screen=Search&dataset=archive&_action_export=1&output=BibTeX&exp=0%7C1%7C-date%2Fcreators_name%2Ftitle%7Carchive%7C-%7Ccreators_name%3Acreators_name%3AANY%3AEQ%3AHanheide+Al-Fadhli+Baxter+Bellotto+Bosilj+Calisti+Cielniak+Coutts+Cuayahuitl+Das+Elgeneidy+Gaju+Esfahani+Fox+From+Gao+Gould+Millard+Parsons+Pearson+Saaj+Sklar+Swainson+Valluru+Villa+Wright+Yue%7Cdate%3Adate%3AALL%3AEQ%3A2021%7C-%7Ceprint_status%3Aeprint_status%3AANY%3AEQ%3Aarchive%7Cmetadata_visibility%3Ametadata_visibility%3AANY%3AEQ%3Ashow&n=&cache=11447865","dataSources":["5gniG5JtcCSxmGw9h"],"keywords":["array(0x56546f015998)"],"search_terms":["evaluating","pedestrian","interaction","preferences","game","theoretic","autonomous","vehicle","virtual","reality","camara","dickinson","fox"],"title":"Evaluating Pedestrian Interaction Preferences with a Game Theoretic Autonomous Vehicle in Virtual Reality","year":2021}