{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,6,3]],"date-time":"2026-06-03T16:57:55Z","timestamp":1780505875020,"version":"3.54.1"},"reference-count":36,"publisher":"Association for Computing Machinery (ACM)","issue":"2","license":[{"start":{"date-parts":[[2020,2,11]],"date-time":"2020-02-11T00:00:00Z","timestamp":1581379200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/www.acm.org\/publications\/policies\/copyright_policy#Background"}],"funder":[{"name":"NSF under the CPS Program","award":["1528489 and 1446735"],"award-info":[{"award-number":["1528489 and 1446735"]}]},{"DOI":"10.13039\/100000140","name":"U.S. Department of Transportation","doi-asserted-by":"crossref","award":["69A3551747111"],"award-info":[{"award-number":["69A3551747111"]}],"id":[{"id":"10.13039\/100000140","id-type":"DOI","asserted-by":"crossref"}]}],"content-domain":{"domain":["dl.acm.org"],"crossmark-restriction":true},"short-container-title":["ACM Trans. Spatial Algorithms Syst."],"published-print":{"date-parts":[[2020,6,30]]},"abstract":"<jats:p>Pedestrian motion modeling in mixed traffic scenarios is crucial to the development of autonomous systems in transportation related applications. This work investigated how pedestrian motion is affected by surrounding pedestrians and vehicles, i.e., vehicle-pedestrian interaction. A social force based pedestrian motion model was proposed, in which the effect of surrounding pedestrians was improved and the effect of vehicles was newly designed. Variable constraints dependent on vehicle influence as well as nearby pedestrian density were imposed on the velocity and acceleration of the pedestrian motion. This work focuses on fundamental patterns of multi-pedestrian interaction with a low speed vehicle (front, back, and lateral interaction in open space). In other words, the application of the model is not restricted to specific scenarios such as crosswalks. Parameters of the proposed model were calibrated by the genetic algorithm (GA) based on trajectory data of the same vehicle-pedestrian interaction patterns from controlled experiments. The proposed model is able to simulate complex self-designed vehicle-pedestrian interaction scenarios. The effectiveness of the proposed model was validated by comparing the simulated trajectories with ground truth trajectories under the same initial conditions, and by evaluating the pedestrian behavior of avoiding vehicle in the simulation of self-designed scenarios.<\/jats:p>","DOI":"10.1145\/3373646","type":"journal-article","created":{"date-parts":[[2020,2,28]],"date-time":"2020-02-28T12:40:48Z","timestamp":1582893648000},"page":"1-27","update-policy":"https:\/\/doi.org\/10.1145\/crossmark-policy","source":"Crossref","is-referenced-by-count":51,"title":["A Social Force Based Pedestrian Motion Model Considering Multi-Pedestrian Interaction with a Vehicle"],"prefix":"10.1145","volume":"6","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-9212-6804","authenticated-orcid":false,"given":"Dongfang","family":"Yang","sequence":"first","affiliation":[{"name":"The Ohio State University, Columbus, OH"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"\u00dcmit","family":"\u00d6zg\u00fcner","sequence":"additional","affiliation":[{"name":"The Ohio State University, Columbus, OH"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Keith","family":"Redmill","sequence":"additional","affiliation":[{"name":"The Ohio State University, Columbus, OH"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"320","published-online":{"date-parts":[[2020,2,11]]},"reference":[{"key":"e_1_2_2_1_1","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2016.110"},{"key":"e_1_2_2_2_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.trb.2005.09.006"},{"key":"e_1_2_2_3_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.trc.2014.10.012"},{"key":"e_1_2_2_4_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.ssci.2015.09.001"},{"key":"e_1_2_2_5_1","doi-asserted-by":"publisher","DOI":"10.3141\/2316-08"},{"key":"e_1_2_2_6_1","volume-title":"Agent-Based Modelling of Pedestrian Microscopic Interactions. Master\u2019s Thesis","author":"Helou Rayan El","unstructured":"Rayan El Helou . 2016. Agent-Based Modelling of Pedestrian Microscopic Interactions. Master\u2019s Thesis . Ohio State University . Rayan El Helou. 2016. Agent-Based Modelling of Pedestrian Microscopic Interactions. Master\u2019s Thesis. Ohio State University."},{"key":"e_1_2_2_7_1","doi-asserted-by":"publisher","DOI":"10.3233\/IA-170110"},{"key":"e_1_2_2_8_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.trf.2018.09.016"},{"key":"e_1_2_2_9_1","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2018.00240"},{"key":"e_1_2_2_10_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.trc.2017.10.024"},{"key":"e_1_2_2_11_1","doi-asserted-by":"publisher","DOI":"10.1038\/35035023"},{"key":"e_1_2_2_12_1","doi-asserted-by":"publisher","DOI":"10.1103\/PhysRevE.51.4282"},{"key":"e_1_2_2_13_1","doi-asserted-by":"publisher","DOI":"10.1016\/S0191-2615(03)00007-9"},{"key":"e_1_2_2_14_1","volume-title":"Shukla","author":"Johansson Anders","year":"2007","unstructured":"Anders Johansson , Dirk Helbing , and Pradyumn K . Shukla . 2007 . Specification of the social force pedestrian model by evolutionary adjustment to video tracking data. Advances in Complex Systems 10, supp02 (2007), 271--288. Anders Johansson, Dirk Helbing, and Pradyumn K. Shukla. 2007. Specification of the social force pedestrian model by evolutionary adjustment to video tracking data. Advances in Complex Systems 10, supp02 (2007), 271--288."},{"key":"e_1_2_2_15_1","volume-title":"Proceedings of the 2018 21st International Conference on Intelligent Transportation Systems (ITSC\u201918)","author":"Fatema","unstructured":"Fatema T. Johora and J\u00f6rg P. M\u00fcller. 2018. Modeling interactions of multimodal road users in shared spaces . In Proceedings of the 2018 21st International Conference on Intelligent Transportation Systems (ITSC\u201918) . IEEE, Los Alamitos, CA, 3568--3574. Fatema T. Johora and J\u00f6rg P. M\u00fcller. 2018. Modeling interactions of multimodal road users in shared spaces. In Proceedings of the 2018 21st International Conference on Intelligent Transportation Systems (ITSC\u201918). IEEE, Los Alamitos, CA, 3568--3574."},{"key":"e_1_2_2_16_1","volume-title":"Proceedings of the AIAA Guidance, Navigation, and Control Conference and Exhibition.","author":"Kuwata Yoshiaki","unstructured":"Yoshiaki Kuwata , Justin Teo , Sertac Karaman , Gaston Fiore , Emilio Frazzoli , and Jonathan P. How . 2008. Motion planning in complex environments using closed-loop prediction . In Proceedings of the AIAA Guidance, Navigation, and Control Conference and Exhibition. Yoshiaki Kuwata, Justin Teo, Sertac Karaman, Gaston Fiore, Emilio Frazzoli, and Jonathan P. How. 2008. Motion planning in complex environments using closed-loop prediction. In Proceedings of the AIAA Guidance, Navigation, and Control Conference and Exhibition."},{"key":"e_1_2_2_17_1","doi-asserted-by":"publisher","DOI":"10.1111\/j.1467-8659.2007.01089.x"},{"key":"e_1_2_2_18_1","doi-asserted-by":"publisher","DOI":"10.1177\/0022022199030002003"},{"key":"e_1_2_2_19_1","doi-asserted-by":"publisher","DOI":"10.1088\/1674-1056\/25\/3\/034501"},{"key":"e_1_2_2_20_1","volume-title":"An Introduction to Genetic Algorithms","author":"Mitchell Melanie","unstructured":"Melanie Mitchell . 1998. An Introduction to Genetic Algorithms . MIT Press , Cambridge, MA . Melanie Mitchell. 1998. An Introduction to Genetic Algorithms. MIT Press, Cambridge, MA."},{"key":"e_1_2_2_21_1","doi-asserted-by":"publisher","DOI":"10.1007\/s00221-007-0917-0"},{"key":"e_1_2_2_22_1","doi-asserted-by":"publisher","DOI":"10.1073\/pnas.1016507108"},{"key":"e_1_2_2_23_1","volume-title":"Autonomous Ground Vehicles","author":"Ozguner Umit","unstructured":"Umit Ozguner , Tankut Acarman , and Keith Alan Redmill . 2011. Autonomous Ground Vehicles . Artech House . Umit Ozguner, Tankut Acarman, and Keith Alan Redmill. 2011. Autonomous Ground Vehicles. Artech House."},{"key":"e_1_2_2_24_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.trpro.2015.09.081"},{"key":"e_1_2_2_25_1","doi-asserted-by":"publisher","DOI":"10.1109\/ICCV.2009.5459260"},{"key":"e_1_2_2_26_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.trpro.2017.05.144"},{"key":"e_1_2_2_27_1","volume-title":"Encyclopedia of Complexity and Systems Science","author":"Schadschneider Andreas","unstructured":"Andreas Schadschneider , Wolfram Klingsch , Hubert Kl\u00fcpfel , Tobias Kretz , Christian Rogsch , and Armin Seyfried . 2009. Evacuation dynamics: Empirical results, modeling and applications . In Encyclopedia of Complexity and Systems Science . Springer , 3142--3176. Andreas Schadschneider, Wolfram Klingsch, Hubert Kl\u00fcpfel, Tobias Kretz, Christian Rogsch, and Armin Seyfried. 2009. Evacuation dynamics: Empirical results, modeling and applications. In Encyclopedia of Complexity and Systems Science. Springer, 3142--3176."},{"key":"e_1_2_2_28_1","doi-asserted-by":"publisher","DOI":"10.3141\/2316-13"},{"key":"e_1_2_2_29_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.trf.2018.10.033"},{"key":"e_1_2_2_30_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.trc.2016.05.012"},{"key":"e_1_2_2_31_1","doi-asserted-by":"publisher","DOI":"10.1109\/WACV.2018.00135"},{"key":"e_1_2_2_32_1","volume-title":"Proceedings of the 2019 IEEE Intelligent Vehicles Symposium (IV\u201919)","author":"Yang Dongfang","unstructured":"Dongfang Yang , Linhui Li , Keith Redmill , and \u00dcmit \u00d6zg\u00fcner. 2019. Top-view trajectories: A pedestrian dataset of vehicle-crowd interaction from controlled experiments and crowded campus . In Proceedings of the 2019 IEEE Intelligent Vehicles Symposium (IV\u201919) . IEEE, Los Alamitos, CA, 899--904. Dongfang Yang, Linhui Li, Keith Redmill, and \u00dcmit \u00d6zg\u00fcner. 2019. Top-view trajectories: A pedestrian dataset of vehicle-crowd interaction from controlled experiments and crowded campus. In Proceedings of the 2019 IEEE Intelligent Vehicles Symposium (IV\u201919). IEEE, Los Alamitos, CA, 899--904."},{"key":"e_1_2_2_33_1","doi-asserted-by":"publisher","DOI":"10.1109\/IVS.2018.8500499"},{"key":"e_1_2_2_34_1","doi-asserted-by":"publisher","DOI":"10.1209\/0295-5075\/93\/68005"},{"key":"e_1_2_2_35_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.trc.2017.04.009"},{"key":"e_1_2_2_36_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.sbspro.2014.07.233"}],"container-title":["ACM Transactions on Spatial Algorithms and Systems"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/dl.acm.org\/doi\/10.1145\/3373646","content-type":"unspecified","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/dl.acm.org\/doi\/pdf\/10.1145\/3373646","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,6,17]],"date-time":"2025-06-17T22:02:34Z","timestamp":1750197754000},"score":1,"resource":{"primary":{"URL":"https:\/\/dl.acm.org\/doi\/10.1145\/3373646"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2020,2,11]]},"references-count":36,"journal-issue":{"issue":"2","published-print":{"date-parts":[[2020,6,30]]}},"alternative-id":["10.1145\/3373646"],"URL":"https:\/\/doi.org\/10.1145\/3373646","relation":{},"ISSN":["2374-0353","2374-0361"],"issn-type":[{"value":"2374-0353","type":"print"},{"value":"2374-0361","type":"electronic"}],"subject":[],"published":{"date-parts":[[2020,2,11]]},"assertion":[{"value":"2018-12-01","order":0,"name":"received","label":"Received","group":{"name":"publication_history","label":"Publication History"}},{"value":"2019-11-01","order":1,"name":"accepted","label":"Accepted","group":{"name":"publication_history","label":"Publication History"}},{"value":"2020-02-11","order":2,"name":"published","label":"Published","group":{"name":"publication_history","label":"Publication History"}}]}}