Safety-Constrained Vehicle-to-Pedestrian Guidance for Visually Impaired Pedestrians: Multi-Camera Consensus Gating in Edge-Fog-Cloud ITS Architecture

Engineering notes

Key topics: autonomous driving, deployment, perception. See the paper for implementation details and experimental results.

Chinese explanation / 中文解读

中文解读待补充：本站会优先为端到端自动驾驶、BEV感知、3D目标检测、轨迹预测、路径规划、LiDAR感知等高价值论文补充中文说明。

Original abstract

Driving assistance and Autonomous driving are among the fastest evolving domains of intelligent transportation systems (ITSs). However, visually impaired pedestrians (VIPs), remain weakly protected by the roadsides or vehicle perception systems, especially when the right of way must be communicated in an accessible and auditable manner. In this paper we describe a safety-constrained vehicle-to-pedestrian (V2P) architecture designed for VIPs crossing assistance. The system creates a time bounded interaction state between the pedestrians, the roadside infrastructure, and the vehicles at Fog, to avoid permissive instructions before all the safety stacks are respected in each level where there are formal time bounded strictures with appropriate tools to formally abide by these rules during each interaction between vehicles and VIPs. Our objective is not to design a new detector, tracker, or MLLM model. Instead, we combine edge descriptors, fog level multi-view descriptors, and multi-camera multiple objects tracking technique (MC-MOT) within a latency-constrained V2P loop. Our main empirical focus is the WildTrack multi-camera continuity, with a novel Multi-Camera Consensus Gating (MCCG) safety primitive criterion; we also conducted a JAAD experiment as secondary assistive-branch for feasibility check, indicating plausible crossing-intent estimates, sub-second restrictive alerts, and actionable grounded guidance. On WildTrack the reproduced Fog continuity branch reaches a MOTA = 88.8%, IDF1 = 91.7%, and HOTA = 65.5%. In the WildTrack settings with N = 7, MCCG with M = 4 blocks 75% of ID-switch considering a 5.0% permissive-eligibility cost. These findings support feasibility of the proposed ITS interaction loop, while leaving field deployment of V2X stack validation, and user studies for future work.

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