基于多特征融合的行人过街意图推理方法

尹守国; 杜泉成; 李灵犀; 王晓; 孙长银

doi:10.11959/j.issn.2096-6652.2025

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基于多特征融合的行人过街意图推理方法

学术论文 | 更新时间：2026-01-07

- 基于多特征融合的行人过街意图推理方法
- Pedestrian crossing intention inference method based on multi-feature fusion
- 智能科学与技术学报 2026年页码：1-14
- 作者机构：
  
  1.安徽大学人工智能学院，安徽合肥 230601
  2.北京科技大学计算机与通信工程学院，北京 100083
  3.美国普渡大学电子与计算机工程系，印第安纳州西拉法叶 IN 46204
  4.光电信息获取与防护技术全国重点实验室，安徽合肥 230031
  5.安徽大学，安徽合肥 230601
- 作者简介：
  
  [ "尹守国（2002- ），男，安徽大学人工智能学院硕士生，主要研究方向为意图推理、轨迹预测、智能交通系统。" ]
  [ "杜泉成（1994- ），男，北京科技大学计算机与通信工程学院博士生，主要研究方向为轨迹预测和车辆规划决策。" ]
  [ "李灵犀（1977- ），男，博士，美国普渡大学电子与计算机工程系教授，主要研究方向为复杂系统的建模、分析、控制与优化、智能交通系统、离散事件动态系统。" ]
  [ "王晓（1988- ），女，安徽大学人工智能学院教授，主要研究方向为社会计算、群体行为建模、无人自主系统及其平行测试。" ]
  [ "孙长银（1975- ），男，安徽大学校长，主要研究方向为智能控制与优化、强化学习、神经网络和数据驱动控制。" ]
- 基金信息：
  
  国家自然科学基金资助项目(62522601)
- DOI：10.11959/j.issn.2096-6652.2025
  中图分类号： TP391.4
- 收稿：2025-09-27，
  
  修回：2025-12-08，
  
  录用：2025-12-15，
  
  网络出版：2026-01-07，
- 稿件说明：
移动端阅览
尹守国,杜泉成,李灵犀等.基于多特征融合的行人过街意图推理方法[J].智能科学与技术学报,

YIN Shouguo,DU Quancheng,LI Lingxi,et al.Pedestrian crossing intention inference method based on multi-feature fusion[J].Chinese Journal of Intelligent Science and Technology,
尹守国,杜泉成,李灵犀等.基于多特征融合的行人过街意图推理方法[J].智能科学与技术学报, DOI：10.11959/j.issn.2096-6652.2025.

YIN Shouguo,DU Quancheng,LI Lingxi,et al.Pedestrian crossing intention inference method based on multi-feature fusion[J].Chinese Journal of Intelligent Science and Technology, DOI：10.11959/j.issn.2096-6652.2025.

摘要

准确理解和预测行人过街意图对自动驾驶汽车的行驶安全至关重要。现有方法多依赖于行人轨迹或整体身体姿态等视觉运动特征，而对行人与车辆之间的交互信号关注不足，因此难以捕捉行人通过手势、头部朝向等细微信号所传递的通行意图。为了解决这些限制，提出了准确推理行人过街意图（accurate reasoning for pedestrian crossing intent，ARPCI）模型，这是一个多特征融合框架。具体而言，设计了一个行人特征模块，该模块首先关注行人的骨架特征以捕捉行人的运动趋势，在此基础上利用MobileNet提取头部姿态特征，结合YOLOv8识别手部动作，从而获得行人与车辆间的交互信号。此外，还引入了场景编码模块和自车特征模块，这能够有效融合环境上下文与车辆动态信息，增强模型对复杂交通场景的适应能力，提高对行人过街意图的预测准确率。在广泛使用的JAAD数据集上进行的实验表明，该方法准确率达到了88%，优于多个同类模型SOTA（state of the art），消融实验也进一步验证了各输入特征的有效性。

Abstract

Accurately understanding and predicting pedestrians’ crossing intentions is crucial for ensuring the safety of autonomous vehicles. Existing approaches are often limited to visual motion cues such as pedestrian trajectories or body poses

while overlooking interactive signals like gestures and head orientations

making it difficult to capture key cues of pedestrian-vehicle interaction. To address these limitations

ARPCI (accurate reasoning for pedestrian crossing intent) was proposed

a multi-feature fusion framework designed for pedestrian intent inference. Specifically

a pedestrian feature module was developed that first focuseed on skeleton-based features to capture motion trends

and further leverageed MobileNet to extract head pose features. Combined with YOLOv8 for gesture recognition

pedestrian-vehicle interaction signals were captured more comprehensively by the model. In addition

a scene encoding module and a self-vehicle feature module were introduced to integrate contextual and ego-dynamic information

thereby enhancing adaptability to complex traffic environments and improving prediction accuracy. Extensive experiments on the widely used JAAD dataset show that the approach achieves an accuracy of 88%

surpassing several state-of-the-art counterparts. Moreover

the ablation studies provide further evidence of the effectiveness of the proposed input features.

关键词

Keywords

references

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