Pedestrian Crossing Intent Prediction via Psychological Features and Transformer Fusion
This addresses safety-critical intent prediction for autonomous vehicles in urban environments, representing an incremental improvement with strong domain-specific gains.
The paper tackles pedestrian crossing intent prediction for autonomous vehicles by fusing behavioral streams with a Transformer-based architecture and uncertainty quantification, achieving state-of-the-art results such as 0.9 F1 on the PSI 1.0 benchmark and establishing a baseline of 0.78 F1 on PSI 2.0.
Pedestrian intention prediction needs to be accurate for autonomous vehicles to navigate safely in urban environments. We present a lightweight, socially informed architecture for pedestrian intention prediction. It fuses four behavioral streams (attention, position, situation, and interaction) using highway encoders, a compact 4-token Transformer, and global self-attention pooling. To quantify uncertainty, we incorporate two complementary heads: a variational bottleneck whose KL divergence captures epistemic uncertainty, and a Mahalanobis distance detector that identifies distributional shift. Together, these components yield calibrated probabilities and actionable risk scores without compromising efficiency. On the PSI 1.0 benchmark, our model outperforms recent vision language models by achieving 0.9 F1, 0.94 AUC-ROC, and 0.78 MCC by using only structured, interpretable features. On the more diverse PSI 2.0 dataset, where, to the best of our knowledge, no prior results exist, we establish a strong initial baseline of 0.78 F1 and 0.79 AUC-ROC. Selective prediction based on Mahalanobis scores increases test accuracy by up to 0.4 percentage points at 80% coverage. Qualitative attention heatmaps further show how the model shifts its cross-stream focus under ambiguity. The proposed approach is modality-agnostic, easy to integrate with vision language pipelines, and suitable for risk-aware intent prediction on resource-constrained platforms.