Vehicle systems and methods for pedestrian road crossing predictions

A method for forecasting a future presence of a pedestrian on a road on which a vehicle is located, the method comprising:

• determining one or more characteristics associated with the pedestrian positioned near to the road based on one or more images captured by at least one sensor, the one or more characteristics including a crossing intention of the pedestrian indicative as to whether the pedestrian intends to cross the road and a motion state estimation of the pedestrian indicative of whether the pedestrian is moving or not moving;
• generating a trajectory prediction for the pedestrian;
• overlaying the trajectory prediction for the pedestrian on a road segmentation of the road;
• setting confidence values for the crossing intention of the pedestrian, the motion state estimation of the pedestrian, and the trajectory prediction overlapping at least a portion of the road;
• and
• generating a road crossing prediction forecasting that the pedestrian will be on the road only if a sum of the confidence values exceeds a defined threshold.

A vehicle system for a vehicle to forecast a future presence of a pedestrian on a road, the vehicle system comprising:

• at least one sensor configured to capture one or more images of the pedestrian positioned near the road;
• and
• a controller in communication with the at least one sensor, the controller configured to:
• determine one or more characteristics associated with the pedestrian positioned near the road based on the one or more captured images, the one or more characteristics including a crossing intention of the pedestrian indicative as to whether the pedestrian intends to cross the road and a motion state estimation of the pedestrian indicative of whether the pedestrian is moving or not moving;
• generate a trajectory prediction for the pedestrian;
• overlay the trajectory prediction for the pedestrian on a road segmentation of the road;
• and
• generate a road crossing prediction forecasting that the pedestrian will be on the road only if the pedestrian intends to cross, the motion state estimation is moving, a velocity of the vehicle is below a defined threshold, and the overlayed trajectory prediction overlaps at least a portion of the road.