HyGenPed: A Hybrid Procedural Generation Approach in Pedestrian Trajectory Modeling in Arbitrary Crosswalk Area

We propose a new method to create plausible pedestrian crossing trajectories that cover a given arbitrarily shaped crosswalk area for simulation-based testing of autonomous vehicles. This method addresses the crossing area coverage problem where the trajectories produced by the generative methods do not cover the entire area that pedestrians may possibly walk on. The actual area covered by pedestrians often differs from marked crosswalks on the road. Furthermore, in the case of jaywalking, the area can take a variety of shapes based on the road structure and surrounding places of interest. Our method is a constructive process that generates trajectories conditioned on an area defined with polygons. We demonstrate that the method can generate trajectories that cover a wide range of crossing areas, including ones from the InD dataset.