Generation of Pedestrian Crossing Scenarios Using Ped-Cross Generative Adversarial Network

James Patrick Spooner, Vasile Palade, Madeline Cheah, Stratis Kanarachos, Alireza Daneshkhah

    Research output: Contribution to journalArticlepeer-review

    12 Citations (Scopus)
    81 Downloads (Pure)


    The safety of vulnerable road users is of paramount importance as transport moves towards fully automated driving. The richness of real-world data required for testing autonomous vehicles is limited and furthermore, available data do not present a fair representation of different scenarios and rare events. Before deploying autonomous vehicles publicly, their abilities must reach a safety threshold, not least with regards to vulnerable road users, such as pedestrians. In this paper, we present a novel Generative Adversarial Networks named the Ped-Cross GAN. Ped-Cross GAN is able to generate crossing sequences of pedestrians in the form of human pose sequences. The Ped-Cross GAN is trained with the Pedestrian Scenario dataset. The novel Pedestrian Scenario dataset, derived from existing datasets, enables training on richer pedestrian scenarios. We demonstrate an example of its use through training and testing the Ped-Cross GAN. The results show that the Ped-Cross GAN is able to generate new crossing scenarios that are of the same distribution from those contained in the Pedestrian Scenario dataset. Having a method with these capabilities is important for the future of transport, as it will allow for the adequate testing of Connected and Autonomous Vehicles on how they correctly perceive the intention of pedestrians crossing the street, ultimately leading to fewer pedestrian casualties on our roads.
    Original languageEnglish
    Article number471
    Number of pages21
    JournalApplied Sciences
    Issue number2
    Publication statusPublished - 6 Jan 2021

    Bibliographical note

    Copyright: © 2020 by the authors. Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY)
    license ( licenses/by/4.0/).


    Coventry University, the Faculty Research Centre for Future Transport and Cities, and HORIBA MIRA Limited.


    • GaN
    • Machine learning
    • human pose
    • CAV
    • Autonomous Vehicle
    • pedestrian
    • Human pose
    • GAN
    • Dataset
    • Pedestrian
    • Autonomous
    • Automotive

    ASJC Scopus subject areas

    • Engineering(all)
    • Instrumentation
    • Materials Science(all)
    • Fluid Flow and Transfer Processes
    • Process Chemistry and Technology
    • Computer Science Applications


    Dive into the research topics of 'Generation of Pedestrian Crossing Scenarios Using Ped-Cross Generative Adversarial Network'. Together they form a unique fingerprint.

    Cite this