mlsanityData to 14 Oct 2026

Pedestrian Trajectory Prediction in Pedestrian-Vehicle Mixed Environments: A Systematic Review

arXiv 2308.06419 ↗First posted 11 Aug 2023cs.RO cs.AI cs.HCcited by 18

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Abstract (arXiv)

Planning an autonomous vehicle's (AV) path in a space shared with pedestrians requires reasoning about pedestrians' future trajectories. A practical pedestrian trajectory prediction algorithm for the use of AVs needs to consider the effect of the vehicle's interactions with the pedestrians on pedestrians' future motion behaviours. In this regard, this paper systematically reviews different methods proposed in the literature for modelling pedestrian trajectory prediction in presence of vehicles that can be applied for unstructured environments. This paper also investigates specific considerations for pedestrian-vehicle interaction (compared with pedestrian-pedestrian interaction) and reviews how different variables such as prediction uncertainties and behavioural differences are accounted for in the previously proposed prediction models. PRISMA guidelines were followed. Articles that did not consider vehicle and pedestrian interactions or actual trajectories, and articles that only focused on road crossing were excluded. A total of 1260 unique peer-reviewed articles from ACM Digital Library, IEEE Xplore, and Scopus databases were identified in the search. 64 articles were included in the final review as they met the inclusion and exclusion criteria. An overview of datasets containing trajectory data of both pedestrians and vehicles used by the reviewed papers has been provided. Research gaps and directions for future work, such as having more effective definition of interacting agents in deep learning methods and the need for gathering more datasets of mixed traffic in unstructured environments are discussed.

Key facts. Cited by 18 papers in the map (data through 14 Oct 2026). Builds on 38 of its 109 references that are in the map. First posted on arXiv 11 Aug 2023.

Builds on

38 of 109 references.

References · 38

  1. 2019nuScenes: A multimodal dataset for autonomous drivingcited by 4,523
  2. 2019Argoverse: 3D Tracking and Forecasting with Rich Mapscited by 732
  3. 2023Argoverse 2: Next Generation Datasets for Self-Driving Perception and Forecastingcited by 707
  4. 2018Social GAN: Socially Acceptable Trajectories with Generative Adversarial Networkscited by 690
  5. 2021Large Scale Interactive Motion Forecasting for Autonomous Driving : The Waymo Open Motion Datasetcited by 537
  6. 2016MOT16: A Benchmark for Multi-Object Trackingcited by 532
  7. 2019Human Motion Trajectory Prediction: A Surveycited by 232
  8. 2019INTERACTION Dataset: An INTERnational, Adversarial and Cooperative moTION Dataset in Interactive Driving Scenarios with Semantic Mapscited by 231
  9. 2017Social Attention: Modeling Attention in Human Crowdscited by 186
  10. 2019The inD Dataset: A Drone Dataset of Naturalistic Road User Trajectories at German Intersectionscited by 137
  11. 2020Human Trajectory Forecasting in Crowds: A Deep Learning Perspectivecited by 129
  12. 2018TrafficPredict: Trajectory Prediction for Heterogeneous Traffic-Agentscited by 111
26 more
  1. 2018TraPHic: Trajectory Prediction in Dense and Heterogeneous Traffic Using Weighted Interactionscited by 82
  2. 2018Autonomous Vehicles that Interact with Pedestrians: A Survey of Theory and Practicecited by 76
  3. 2019Conditional Generative Neural System for Probabilistic Trajectory Predictioncited by 76
  4. 2021LOKI: Long Term and Key Intentions for Trajectory Predictioncited by 57
  5. 2020Collaborative Motion Prediction via Neural Motion Message Passingcited by 55
  6. 2021RAIN: Reinforced Hybrid Attention Inference Network for Motion Forecastingcited by 36
  7. 2021Spatio-Temporal Graph Dual-Attention Network for Multi-Agent Prediction and Trackingcited by 35
  8. 2020Bifold and Semantic Reasoning for Pedestrian Behavior Predictioncited by 31
  9. 2018PedX: Benchmark Dataset for Metric 3D Pose Estimation of Pedestrians in Complex Urban Intersectionscited by 27
  10. 2019Top-view Trajectories: A Pedestrian Dataset of Vehicle-Crowd Interaction from Controlled Experiments and Crowded Campuscited by 25
  11. 2020Pedestrian Models for Autonomous Driving Part II: High-Level Models of Human Behaviorcited by 23
  12. 2019RobustTP: End-to-End Trajectory Prediction for Heterogeneous Road-Agents in Dense Traffic with Noisy Sensor Inputscited by 16
  13. 2021SCOUT: Socially-COnsistent and UndersTandable Graph Attention Network for Trajectory Prediction of Vehicles and VRUscited by 16
  14. 2021Euro-PVI: Pedestrian Vehicle Interactions in Dense Urban Centerscited by 16
  15. 2019BLVD: Building A Large-scale 5D Semantics Benchmark for Autonomous Drivingcited by 13
  16. 2020Probabilistic Crowd GAN: Multimodal Pedestrian Trajectory Prediction using a Graph Vehicle-Pedestrian Attention Networkcited by 12
  17. 2017Pedestrian Prediction by Planning using Deep Neural Networkscited by 11
  18. 2020Pedestrian Behavior Prediction for Automated Driving: Requirements, Metrics, and Relevant Featurescited by 11
  19. 2022Learning the Pedestrian-Vehicle Interaction for Pedestrian Trajectory Predictioncited by 7
  20. 2021Semantics-STGCNN: A Semantics-guided Spatial-Temporal Graph Convolutional Network for Multi-class Trajectory Predictioncited by 6
  21. 2019Understanding Pedestrian-Vehicle Interactions with Vehicle Mounted Vision: An LSTM Model and Empirical Analysiscited by 4
  22. 2019Key Ingredients of Self-Driving Carscited by 4
  23. 2020MCENET: Multi-Context Encoder Network for Homogeneous Agent Trajectory Prediction in Mixed Trafficcited by 4
  24. 2020Off The Beaten Sidewalk: Pedestrian Prediction In Shared Spaces For Autonomous Vehiclescited by 4
  25. 2020LTN: Long-Term Network for Long-Term Motion Predictioncited by 2
  26. 2021Modeling Interactions of Multimodal Road Users in Shared Spacescited by 1

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Cited by year (2026 to 14 Oct)

Citing papers per year: 2023: 2; 2024: 5; 2025: 8; 2026: 3.

18 papers.

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  1. 2024Autonomous Driving at Unsignalized Intersections: A Review of Decision-Making Challenges and Reinforcement Learning-Based Solutionscited by 7
  2. 2024Vulnerable Road User Detection and Safety Enhancement: A Comprehensive Surveycited by 5
  3. 2024Long-Term Typhoon Trajectory Prediction: A Physics-Conditioned Approach Without Reanalysis Datacited by 4
  4. 2023IA-LSTM: Interaction-Aware LSTM for Pedestrian Trajectory Predictioncited by 3
  5. 2024Snapshot: Towards Application-centered Models for Pedestrian Trajectory Prediction in Urban Traffic Environmentscited by 3
  6. 2024ChatDyn: Language-Driven Multi-Actor Dynamics Generation in Street Scenescited by 3
  7. 2025Large Foundation Models for Trajectory Prediction in Autonomous Driving: A Comprehensive Surveycited by 3
  8. 2023Polar Collision Grids: Effective Interaction Modelling for Pedestrian Trajectory Prediction in Shared Space Using Collision Checkscited by 2
  9. 2025Recent Advances in Multi-Agent Human Trajectory Prediction: A Comprehensive Reviewcited by 2
  10. 2025Where Do You Go? Pedestrian Trajectory Prediction using Scene Featurescited by 1
  11. 2025TPK: Trustworthy Trajectory Prediction Integrating Prior Knowledge For Interpretability and Kinematic Feasibilitycited by 1
  12. 2026Eye Gaze-Informed and Context-Aware Pedestrian Trajectory Prediction in Shared Spaces with Automated Shuttles: A Virtual Reality Studycited by 1
6 more
  1. 2025Boundary-Guided Trajectory Prediction for Road Aware and Physically Feasible Autonomous Drivingcited by 0
  2. 2025Trajectory Prediction in Dynamic Object Tracking: A Critical Studycited by 0
  3. 2025Model Predictive Control for Crowd Navigation via Learning-Based Trajectory Predictioncited by 0
  4. 2025From Camera-Based Sensing to Reasoning: A Comprehensive Review Toward Proactive Vulnerable Road User Safetycited by 0
  5. 2026Modeling Vehicle-Type-Specific Pedestrian Crash Avoidance Behavior in Safety-Critical Interactions Using Smooth-Mamba Deep Reinforcement Learningcited by 0
  6. 2026Safety-oriented pedestrian trajectory prediction at urban intersections using time-to-collision and crossing-zone contextcited by 0