For automated vehicles (AVs) to reliably navigate through crosswalks, they need to understand pedestrians crossing behaviors. Simple and reliable pedestrian behavior models aid in real-time AV control by allowing the AVs to predict future pedestrian behaviors. In this paper, we present a Behavior aware Model Predictive Controller (B-MPC) for AVs that incorporates long-term predictions of pedestrian crossing behavior using a previously developed pedestrian crossing model. The model incorporates pedestrians gap acceptance behavior and utilizes minimal pedestrian information, namely their position and speed, to predict pedestrians crossing behaviors. The BMPC controller is validated through simulations and compared to a rule-based controller. By incorporating predictions of pedestrian behavior, the B-MPC controller is able to efficiently plan for longer horizons and handle a wider range of pedestrian interaction scenarios than the rule-based controller. Results demonstrate the applicability of the controller for safe and efficient navigation at crossing scenarios.
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