Crosswalk Approach

The Ego Vehicle is primarily concerned only with those Crosswalks that it is likely to cross in the near future. These will be any Crosswalks lying in the current assumed driving path. An Ego Vehicle approaching an Intersection, for example, will be concerned with those Crosswalks (if any) at the entrance and exit of that Intersection along the intended Connector (see Intersection Subsystem).

Upon approach, it is necessary to actively monitor pedestrian activity. Once the Ego Vehicle has cleared the Crosswalk, there is no need to continue monitoring it. So a Crosswalk Approach represents a Crosswalk that is closely observed for pedestrian crossing.

Identifiers

1. Crosswalk

Attributes

Hold status

The approaching Ego Vehicle is instructed to hold in front of the Crosswalk when it is likely that a pedestrian will occupy the Crosswalk at the time the EV arrives. This hold is kept in place until either the pedestrian activity has cleared or the Ego Vehicle has chosen a path that doesn’t take it through the Crosswalk. If there is likely pedestrian activity, say at an Intersection Exit, and it is necessary for the Ego Vehicle to proceed to avoid oncoming traffic, the hold can be set to Intrude. This means that the hold is still in place, but it is permissible for the Ego Vehicle to influence pedestrian behavior by demonstrating intent to cross. The precise method for accomplishing this safely is relegated to the driver (DRIVING domain).

Type: Hold Intrude Release