Pedestrian Detection Method on Crosswalk for Autonomous Driving in Urban Environment

Autonomous driving in an urban environment must consider not only nearby vehicles and signals at intersections, but also pedestrians on the crosswalk. In this paper, it is possible to receive intersection signal information using V2X communication, and to drive at the intersection according to the signal condition in the direction of travel. In addition, it is possible to acquire the crosswalk region on the road using the HD map and extract the pedestrian data through the LiDAR. We propose a study on the pedestrian detection method on the crosswalk for autonomous driving in an urban road environment through the data of the pedestrian crossing region and pedestrians.