{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,4,8]],"date-time":"2026-04-08T16:28:58Z","timestamp":1775665738991,"version":"3.50.1"},"reference-count":27,"publisher":"Springer Science and Business Media LLC","issue":"1","license":[{"start":{"date-parts":[[2025,1,18]],"date-time":"2025-01-18T00:00:00Z","timestamp":1737158400000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0"},{"start":{"date-parts":[[2025,1,18]],"date-time":"2025-01-18T00:00:00Z","timestamp":1737158400000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0"}],"funder":[{"DOI":"10.13039\/100021130","name":"Bundesministerium f\u00fcr Wirtschaft und Klimaschutz","doi-asserted-by":"publisher","award":["19A20026B"],"award-info":[{"award-number":["19A20026B"]}],"id":[{"id":"10.13039\/100021130","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/100021130","name":"Bundesministerium f\u00fcr Wirtschaft und Klimaschutz","doi-asserted-by":"publisher","award":["19A21045E"],"award-info":[{"award-number":["19A21045E"]}],"id":[{"id":"10.13039\/100021130","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["Int. J. ITS Res."],"published-print":{"date-parts":[[2025,4]]},"abstract":"<jats:title>Abstract<\/jats:title>\n          <jats:p>Fatally injured vulnerable road users, especially pedestrians who collided with motorised vehicles, account for 31% of all recorded fatalities in urban traffic in the EU. Autonomous vehicles will improve this situation in the future, reducing the impact of the human factor in critical traffic situations. The development of autonomous driving functions requires simulation environments to train certain behaviours. Consequently, these simulations need well represented vulnerable road users. In this paper, an approach for accurate prediction of pedestrian behaviour at street crossings is presented. The suggested solution involves an agent-based model working with A* pathfinding and risk-based areas, validated by a drone dataset on German road crossings.<\/jats:p>","DOI":"10.1007\/s13177-024-00458-5","type":"journal-article","created":{"date-parts":[[2025,1,18]],"date-time":"2025-01-18T07:45:08Z","timestamp":1737186308000},"page":"441-449","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":1,"title":["Simulation of Pedestrian Behaviour in Traffic Situations Using Risk-Based A* Pathfinding"],"prefix":"10.1007","volume":"23","author":[{"ORCID":"https:\/\/orcid.org\/0009-0008-2354-2351","authenticated-orcid":false,"given":"Tobias","family":"Rinnert","sequence":"first","affiliation":[]},{"ORCID":"https:\/\/orcid.org\/0000-0003-4786-4810","authenticated-orcid":false,"given":"Corinna","family":"K\u00f6pke","sequence":"additional","affiliation":[]},{"given":"Antonio","family":"Kruse","sequence":"additional","affiliation":[]},{"given":"Mirjam","family":"Fehling-Kaschek","sequence":"additional","affiliation":[]},{"given":"Florian","family":"L\u00fcttner","sequence":"additional","affiliation":[]},{"ORCID":"https:\/\/orcid.org\/0000-0003-4730-8830","authenticated-orcid":false,"given":"Alexander","family":"Stolz","sequence":"additional","affiliation":[]}],"member":"297","published-online":{"date-parts":[[2025,1,18]]},"reference":[{"issue":"7","key":"458_CR1","doi-asserted-by":"publisher","first-page":"2805","DOI":"10.3390\/su12072805","volume":"12","author":"H Amado","year":"2020","unstructured":"Amado, H., Ferreira, S., Tavares, J.P., Ribeiro, P., Freitas, E.: Pedestrian-vehicle interaction at unsignalized crosswalks: A systematic review. Sustainability 12(7), 2805 (2020). https:\/\/doi.org\/10.3390\/su12072805","journal-title":"Sustainability"},{"key":"458_CR2","doi-asserted-by":"publisher","unstructured":"Anvari, B., Bell, M.G., Sivakumar, A., Ochieng, W.Y.: Modelling shared space users via rule-based social force model. Transportation Research Part C: Emerging Technologies 51, 83\u2013103 (2015). https:\/\/doi.org\/10.1016\/j.trc.2014.10.012. URL https:\/\/www.sciencedirect.com\/science\/article\/pii\/S0968090X1400312X","DOI":"10.1016\/j.trc.2014.10.012"},{"issue":"2","key":"458_CR3","doi-asserted-by":"publisher","first-page":"66","DOI":"10.1007\/s13177-011-0042-0","volume":"10","author":"K Bevrani","year":"2012","unstructured":"Bevrani, K., Chung, E.: An examination of the microscopic simulation models to identify traffic safety indicators. Int. J. Intell. Transp. Syst. Res. 10(2), 66\u201381 (2012). https:\/\/doi.org\/10.1007\/s13177-011-0042-0","journal-title":"Int. J. Intell. Transp. Syst. Res."},{"key":"458_CR4","doi-asserted-by":"publisher","unstructured":"Bock, J., Krajewski, R., Moers, T., Runde, S., Vater, L., Eckstein, L.: The ind dataset: A drone dataset of naturalistic road user trajectories at german intersections. In: 2020 IEEE Intelligent Vehicles Symposium (IV), pp. 1929\u20131934. IEEE, Piscataway, NJ (2020)https:\/\/doi.org\/10.1109\/IV47402.2020.9304839","DOI":"10.1109\/IV47402.2020.9304839"},{"issue":"9","key":"458_CR5","doi-asserted-by":"publisher","first-page":"5453","DOI":"10.1109\/TITS.2020.3006767","volume":"22","author":"F Camara","year":"2021","unstructured":"Camara, F., Bellotto, N., Cosar, S., Weber, F., Nathanael, D., Althoff, M., Wu, J., Ruenz, J., Dietrich, A., Markkula, G., Schieben, A., Tango, F., Merat, N., Fox, C.: Pedestrian models for autonomous driving part ii: High-level models of human behavior. IEEE Trans. Intell. Transp. Syst. 22(9), 5453\u20135472 (2021). https:\/\/doi.org\/10.1109\/TITS.2020.3006767","journal-title":"IEEE Trans. Intell. Transp. Syst."},{"issue":"48","key":"458_CR6","doi-asserted-by":"publisher","first-page":"30055","DOI":"10.1073\/pnas.1912789117","volume":"117","author":"K Cranmer","year":"2020","unstructured":"Cranmer, K., Brehmer, J., Louppe, G.: The frontier of simulation-based inference. Proc. Natl. Acad. Sci. 117(48), 30055\u201330062 (2020). https:\/\/doi.org\/10.1073\/pnas.1912789117","journal-title":"Proc. Natl. Acad. Sci."},{"key":"458_CR7","doi-asserted-by":"publisher","DOI":"10.1007\/s13177-023-00366-0","author":"M Gomes Correia","year":"2023","unstructured":"Gomes Correia, M., Ferreira, A.: Road asset management and the vehicles of the future: An overview, opportunities, and challenges. Int. J. Intell. Transp. Syst. Res. (2023). https:\/\/doi.org\/10.1007\/s13177-023-00366-0","journal-title":"Int. J. Intell. Transp. Syst. Res."},{"issue":"2","key":"458_CR8","doi-asserted-by":"publisher","first-page":"100","DOI":"10.1109\/TSSC.1968.300136","volume":"4","author":"P Hart","year":"1968","unstructured":"Hart, P., Nilsson, N., Raphael, B.: A formal basis for the heuristic determination of minimum cost paths. IEEE Transactions on Systems Science and Cybernetics 4(2), 100\u2013107 (1968). https:\/\/doi.org\/10.1109\/TSSC.1968.300136","journal-title":"IEEE Transactions on Systems Science and Cybernetics"},{"issue":"6803","key":"458_CR9","doi-asserted-by":"publisher","first-page":"487","DOI":"10.1038\/35035023","volume":"407","author":"D Helbing","year":"2000","unstructured":"Helbing, D., Farkas, I., Vicsek, T.: Simulating dynamical features of escape panic. Nature 407(6803), 487\u2013490 (2000). https:\/\/doi.org\/10.1038\/35035023","journal-title":"Nature"},{"issue":"5","key":"458_CR10","doi-asserted-by":"publisher","first-page":"4282","DOI":"10.1103\/physreve.51.4282","volume":"51","author":"D Helbing","year":"1995","unstructured":"Helbing, D., Moln\u00e1r, P.: Social force model for pedestrian dynamics. Physical review. E, Statistical physics, plasmas, fluids, and related interdisciplinary topics 51(5), 4282\u20134286 (1995). https:\/\/doi.org\/10.1103\/physreve.51.4282","journal-title":"Physical review. E, Statistical physics, plasmas, fluids, and related interdisciplinary topics"},{"key":"458_CR11","doi-asserted-by":"crossref","unstructured":"K\u00f6pke, C., Srivastava, K., K\u00f6nig, L., Miller, N., Fehling-Kaschek, M., Burke, K., Mangini, M., Pra\u00e7a, I., Canito, A., Carvalho, O., et\u00a0al.: Impact propagation in airport systems. In: Cyber-Physical Security for Critical Infrastructures Protection: First International Workshop, CPS4CIP 2020, Guildford, UK, September 18, 2020, Revised Selected Papers 1, pp. 191\u2013206 (2021)","DOI":"10.1007\/978-3-030-69781-5_13"},{"key":"458_CR12","unstructured":"Laufer, J., Planner, P.: Passenger and pedestrian modelling at transport facilities (2023)"},{"key":"458_CR13","doi-asserted-by":"publisher","unstructured":"Lu, L., Ren, G., Wang, W., Chan, C.Y., Wang, J.: A cellular automaton simulation model for pedestrian and vehicle interaction behaviors at unsignalized mid-block crosswalks. Accident Analysis & Prevention 95, 425\u2013437 (2016). https:\/\/doi.org\/10.1016\/j.aap.2016.04.014. URL https:\/\/www.sciencedirect.com\/science\/article\/pii\/S000145751630121X","DOI":"10.1016\/j.aap.2016.04.014"},{"issue":"8","key":"458_CR14","doi-asserted-by":"publisher","first-page":"158","DOI":"10.3390\/wevj13080158","volume":"13","author":"J Ma","year":"2022","unstructured":"Ma, J., Rong, W.: Pedestrian crossing intention prediction method based on multi-feature fusion. World Electric Vehicle Journal 13(8), 158 (2022). https:\/\/doi.org\/10.3390\/wevj13080158","journal-title":"World Electric Vehicle Journal"},{"key":"458_CR15","doi-asserted-by":"crossref","unstructured":"Maidana, R.G., Kristensen, S.D., Utne, I.B., S\u00f8rensen, A.J.: Risk-based path planning for preventing collisions and groundings of maritime autonomous surface ships. Ocean Engineering 290, 116,417 (2023). https:\/\/doi.org\/10.1016\/j.oceaneng.2023.116417. URL https:\/\/www.sciencedirect.com\/science\/article\/pii\/S0029801823028019","DOI":"10.1016\/j.oceaneng.2023.116417"},{"issue":"1","key":"458_CR16","doi-asserted-by":"publisher","first-page":"98","DOI":"10.1007\/s10458-014-9252-6","volume":"29","author":"F Martinez-Gil","year":"2015","unstructured":"Martinez-Gil, F., Lozano, M., Fern\u00e1ndez, F.: Strategies for simulating pedestrian navigation with multiple reinforcement learning agents. Auton. Agent. Multi-Agent Syst. 29(1), 98\u2013130 (2015). https:\/\/doi.org\/10.1007\/s10458-014-9252-6","journal-title":"Auton. Agent. Multi-Agent Syst."},{"key":"458_CR17","doi-asserted-by":"crossref","unstructured":"Meyer, R., Schmidt-Collberg, A., Kruse, A., Eberhardt, D., K\u00f6pke, C.: Towards a specification of behaviour models for crowds. In: C.\u00a0Elsenbroich, H.\u00a0Verhagen (eds.) Advances in Social Simulation, Proceedings of the 18th Social Simulation Conference, p. To be published. Springer (2024)","DOI":"10.1007\/978-3-031-57785-7_38"},{"key":"458_CR18","unstructured":"Mobility & Transport - Road Safety: European road safety observatory (24.11.2023). URL https:\/\/road-safety.transport.ec.europa.eu\/european-road-safety-observatory_en"},{"issue":"1","key":"458_CR19","doi-asserted-by":"publisher","first-page":"543","DOI":"10.1146\/annurev.aa.30.090192.002551","volume":"30","author":"JJ Monaghan","year":"1992","unstructured":"Monaghan, J.J.: Smoothed particle hydrodynamics. Ann. Rev. Astron. Astrophys. 30(1), 543\u2013574 (1992)","journal-title":"Ann. Rev. Astron. Astrophys."},{"key":"458_CR20","doi-asserted-by":"publisher","unstructured":"Osorio-Garc\u00eda, D., Hern\u00e1ndez-Pulgar\u00edn, G., Escobar, D.A.: Profiles of pedestrian risk behavior while crossing the street. Safety Science 163, 106,120 (2023)https:\/\/doi.org\/10.1016\/j.ssci.2023.106120. URL https:\/\/www.sciencedirect.com\/science\/article\/pii\/S0925753523000620","DOI":"10.1016\/j.ssci.2023.106120"},{"issue":"1","key":"458_CR21","doi-asserted-by":"publisher","first-page":"103","DOI":"10.1007\/s13177-021-00276-z","volume":"20","author":"A Pan","year":"2022","unstructured":"Pan, A., Zhang, X., Iryo-Asano, M., Nakamura, H.: Efficiency and safety evaluation of left-turn vehicles and crossing pedestrians in signalized intersections under the autonomous vehicle mixed flow condition. Int. J. Intell. Transp. Syst. Res. 20(1), 103\u2013116 (2022). https:\/\/doi.org\/10.1007\/s13177-021-00276-z","journal-title":"Int. J. Intell. Transp. Syst. Res."},{"issue":"1","key":"458_CR22","doi-asserted-by":"publisher","first-page":"113","DOI":"10.3141\/2434-14","volume":"2434","author":"G Ren","year":"2014","unstructured":"Ren, G., Lu, L., Wang, W., Gong, X., Huang, Z.: Microscopic simulation model for pedestrian flow at signalized crosswalks. Transportation Research Record: Journal of the Transportation Research Board 2434(1), 113\u2013122 (2014). https:\/\/doi.org\/10.3141\/2434-14","journal-title":"Transportation Research Record: Journal of the Transportation Research Board"},{"key":"458_CR23","doi-asserted-by":"crossref","unstructured":"Scott, D.W., Terrell, G.R.: Biased and unbiased cross-validation in density estimation. Journal of the American Statistical Association 82(400), 1131\u20131146 (1987). URL http:\/\/www.jstor.org\/stable\/2289391","DOI":"10.1080\/01621459.1987.10478550"},{"key":"458_CR24","doi-asserted-by":"publisher","unstructured":"Seer, Stefan, Rudloff, Christian, Matyus, Thomas, Br\u00e4ndle, Norbert: Validating social force based models with comprehensive real world motion data. Transportation Research Procedia 2, 724\u2013732 (2014). https:\/\/doi.org\/10.1016\/j.trpro.2014.09.080. URL https:\/\/www.sciencedirect.com\/science\/article\/pii\/S2352146514001161","DOI":"10.1016\/j.trpro.2014.09.080"},{"key":"458_CR25","unstructured":"Sun, D., Ukkusuri, S., Benekohal, R.F., Waller, S.T.: Modeling of motorist-pedestrian interaction at uncontrolled mid-block crosswalks. In: Transportation Research Record, TRB Annual Meeting CD-ROM, Washington, DC (2003)"},{"key":"458_CR26","unstructured":"Xu, X.: Pathfinding.js. https:\/\/github.com\/qiao\/PathFinding.js (2015)"},{"key":"458_CR27","doi-asserted-by":"publisher","unstructured":"Zhen, R., Gu, Q., Shi, Z., Suo, Y.: An improved a-star ship path-planning algorithm considering current, water depth, and traffic separation rules. Journal of Marine Science and Engineering 11(7) (2023). https:\/\/doi.org\/10.3390\/jmse11071439. URL https:\/\/www.mdpi.com\/2077-1312\/11\/7\/1439","DOI":"10.3390\/jmse11071439"}],"container-title":["International Journal of Intelligent Transportation Systems Research"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s13177-024-00458-5.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/article\/10.1007\/s13177-024-00458-5\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s13177-024-00458-5.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,3,15]],"date-time":"2025-03-15T16:31:27Z","timestamp":1742056287000},"score":1,"resource":{"primary":{"URL":"https:\/\/link.springer.com\/10.1007\/s13177-024-00458-5"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2025,1,18]]},"references-count":27,"journal-issue":{"issue":"1","published-print":{"date-parts":[[2025,4]]}},"alternative-id":["458"],"URL":"https:\/\/doi.org\/10.1007\/s13177-024-00458-5","relation":{},"ISSN":["1348-8503","1868-8659"],"issn-type":[{"value":"1348-8503","type":"print"},{"value":"1868-8659","type":"electronic"}],"subject":[],"published":{"date-parts":[[2025,1,18]]},"assertion":[{"value":"10 February 2024","order":1,"name":"received","label":"Received","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"28 October 2024","order":2,"name":"revised","label":"Revised","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"16 December 2024","order":3,"name":"accepted","label":"Accepted","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"18 January 2025","order":4,"name":"first_online","label":"First Online","group":{"name":"ArticleHistory","label":"Article History"}},{"order":1,"name":"Ethics","group":{"name":"EthicsHeading","label":"Declarations"}},{"value":"The authors declare that they have no conflict of interest.","order":2,"name":"Ethics","group":{"name":"EthicsHeading","label":"Conflicts of Interest"}}]}}