Pedestrians Walking on Reachable Sets and Manifolds

Michael Hartmann, Daniel Watzenig

Research output: Chapter in Book/Report/Conference proceedingConference paperpeer-review


It is a challenge to find safe trajectories for automated vehicles. Especially in urban environments with pedestrians there exist many different situations. The prediction of future movements with absolute certainty is impossible if the intention of the pedestrian is unknown. This paper is intended to offer a new concept of decision-making for motion planning with vulnerable road-users in urban environments. Reachability analysis is used to define spatial areas based on physical constraints, where the pedestrian might go. The approach is physically inspired and it can be proven for all kind of pedestrians. A new approach to cluster spatial areas is introduced to store specific environmental information about the pedestrian. The maximum values for jerk, acceleration and velocity of the pedestrian are necessary to find reachable areas.

Original languageEnglish
Title of host publicationProceedings - 2019 IEEE International Conference on Mechatronics, ICM 2019
PublisherInstitute of Electrical and Electronics Engineers
Number of pages8
ISBN (Electronic)9781538669594
Publication statusPublished - 24 May 2019
Event2019 IEEE International Conference on Mechatronics: ICM 2019 - TU Ilmenau, Ilmenau, Germany
Duration: 18 Mar 201920 Mar 2019

Publication series

NameProceedings - 2019 IEEE International Conference on Mechatronics, ICM 2019


Conference2019 IEEE International Conference on Mechatronics
Abbreviated titleICM 2019
Internet address


  • Automated Vehicles
  • Machine Learning
  • Motion Planning
  • Pedestrian
  • Reachability Analysis
  • Safety
  • Vehicles

ASJC Scopus subject areas

  • Artificial Intelligence
  • Human-Computer Interaction
  • Automotive Engineering
  • Mechanical Engineering
  • Control and Optimization
  • Industrial and Manufacturing Engineering

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