Technical Paper
Evaluating Safety Metrics for Vulnerable Road Users at Urban Traffic Intersections Using High-Density Infrastructure LiDAR System
2024-04-09
2024-01-2641
Ensuring the safety of vulnerable road users (VRUs) such as pedestrians, users of micro-mobility vehicles, and cyclists is imperative for the commercialization of automated vehicles (AVs) in urban traffic scenarios. City traffic intersections are of particular concern due to the precarious situations VRUs often encounter when navigating these locations, primarily because of the unpredictable nature of urban traffic. Earlier work from the Institute of Automated Vehicles (IAM) has developed and evaluated Driving Assessment (DA) metrics for analyzing car following scenarios. In this work, we extend those evaluations to an urban traffic intersection testbed located in downtown Tempe, Arizona. A multimodal infrastructure sensor setup, comprising a high-density, 128-channel LiDAR and a 720p RGB camera, was employed to collect data during the dusk period, with the objective of capturing data during the transition from daylight to night.
