# Pedestrian-Vehicle Interaction in Shared Space: Insights for Autonomous Vehicles

arXiv: https://arxiv.org/abs/2403.04933 · HTML: https://mlsanity.com/paper/2403.04933/

## Key facts

- Cited by 3 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 7 Mar 2024.

## Built on by (most cited first, 3 of 3)

- [GNN-based Decentralized Perception in Multirobot Systems for Predicting Worker Actions](https://mlsanity.com/paper/2501.04193/) (2025)
- [Eye Gaze-Informed and Context-Aware Pedestrian Trajectory Prediction in Shared Spaces with Automated Shuttles: A Virtual Reality Study](https://mlsanity.com/paper/2603.19812/) (2026)
- [Understanding Pedestrian Gesture Misrecognition: Insights from Vision-Language Model Reasoning](https://mlsanity.com/paper/2508.06801/) (2025)

## Abstract (arXiv)

Shared space reduces segregation between vehicles and pedestrians and encourages them to share roads without imposed traffic rules. The behaviour of road users (RUs) is then controlled by social norms, and interactions are more versatile than on traditional roads. Autonomous vehicles (AVs) will need to adapt to these norms to become socially acceptable RUs in shared spaces. However, to date, there is not much research into pedestrian-vehicle interaction in shared-space environments, and prior efforts have predominantly focused on traditional roads and crossing scenarios. We present a video observation investigating pedestrian reactions to a small, automation-capable vehicle driven manually in shared spaces based on a long-term naturalistic driving dataset. We report various pedestrian reactions (from movement adjustment to prosocial behaviour) and situations pertinent to shared spaces at this early stage. Insights drawn can serve as a foundation to support future AVs navigating shared spaces, especially those with a high pedestrian focus.