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Autonomous Driving with a Crossing Pedestrian

This video shows partial results from [1], where we use a longitudinal and lateral vehicle controller for autonomous driving in urban environments. The vehicle uses Model Predictive Control to control the acceleration and steering angle, while a pedestrian predictor [2] is predicting future pedestrian positions.

We implemented the code in a real vehicle and tested the performance for two scenarios with a simulated walking pedestrian.

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INTVO: Pedestrian Behavior Prediction