Navigation based on sensed looking direction of a pedestrian

An autonomous vehicle, the autonomous vehicle comprising:

• a frame;
• a body attached to the frame;
• a camera;
• and
• at least one processing device programmed to:
• receive, from the camera, a plurality of images representative of an environment of the autonomous vehicle;
• analyze the plurality of images to identify at least one pedestrian in the environment of the autonomous vehicle;
• identify eyes of the at least one pedestrian represented in at least one of the plurality of images;
• determine, based on analysis of the at least one of the plurality of images and based on the identification of the eyes of the at least one pedestrian in the at least one of the plurality of images, a looking direction of the at least one pedestrian;
• if the at least one pedestrian is determined to be looking in a direction of the autonomous vehicle, determine a first navigational action for the autonomous vehicle, wherein the at least one pedestrian is determined to be looking in the direction of the autonomous vehicle if the determined looking direction of the at least one pedestrian falls within a cone intersecting the autonomous vehicle and defined by an angle of 90 degrees or less;
• if the at least one pedestrian is determined to be looking in a direction other than toward the autonomous vehicle, determine a second navigational action for the autonomous vehicle different from the first navigational action and more conservative than the first navigational action in at least one respect;
• and
• cause control of at least one navigational actuator of the autonomous vehicle in accordance with the determined first or second navigational action for the autonomous vehicle.

A method for navigation a host vehicle, the method comprising:

• receiving, from a camera, a plurality of images representative of an environment of the host vehicle;
• analyzing the plurality of images to identify at least one pedestrian in the environment of the host vehicle;
• identifying eyes of the at least one pedestrian represented in at least one of the plurality of images;
• determining, based on analysis of the at least one of the plurality of images and based on the identification of the eyes of the at least one pedestrian in the at least one of the plurality of images, a looking direction of the at least one pedestrian;
• if the at least one pedestrian is determined to be looking in a direction of the host vehicle, determining a first navigational action for the host vehicle, wherein the at least one pedestrian is determined to be looking in the direction of the host vehicle if the determined looking direction of the at least one pedestrian falls within a cone intersecting the host vehicle and defined by an angle of 90 degrees or less;
• if the at least one pedestrian is determined to be looking in a direction other than toward the host vehicle, determining a second navigational action for the host vehicle different from the first navigational action and more conservative than the first navigational action in at least one respect;
• and
• causing control of at least one navigational actuator of the host vehicle in accordance with the determined first or second navigational action for the host vehicle.