Modified Driving Safety Field Based on Trajectory Prediction Model for Pedestrian–Vehicle Collision

Pedestrian–vehicle collision is an important component of traffic accidents. Over the past decades, it has become the focus of academic and industrial research and presents an important challenge. This study proposes a modified Driving Safety Field (DSF) model for pedestrian–vehicle risk assessment at an unsignalized road section, in which predicted positions are considered. A Dynamic Bayesian Network (DBN) model is employed for pedestrian intention inference, and a particle filtering model is conducted to simulate pedestrian motion. Driving data collection was conducted and pedestrian–vehicle scenarios were extracted. The effectiveness of the proposed model was evaluated by Monte Carlo simulations running 1000 times. Results show that the proposed risk assessment approach reduces braking times by 18.73%. Besides this, the average value of TTC−1 (the reciprocal of time-to-collision) and the maximum TTC−1 were decreased by 28.83% and 33.91%, respectively.