# Generation of Pedestrian Crossing Scenarios Using Ped-Cross Generative Adversarial Network
## 2 Related Work  
### Pedestrian Deaths and CAVs  
When considering world crash statistics, it is clear that the fatalities of pedestrians make up a large proportion of all road deaths. Table 1 shows the global distribution of road traffic deaths and it can be seen that in the more developed regions of the world, pedestrian deaths account for between 22% and 27% of all road deaths, with 22% as the global average [8]. Further to this, recent trends in road deaths show that pedestrian fatalities are decreasing at a slower rate when compared to all other types of road users [9].  
The United States has seen a rise in pedestrian fatalities, with a 9% rise in deaths between 2015 and 2016 [10]. 2016 saw the overall proportion of pedestrian deaths rise to 16% as a national average in the US compared to 11% in 2007, however, when considering highly populated urban areas, this proportion is significantly higher, as seen in Table 2. The European Commission (2015) also comment that 69% of all pedestrian fatalities occur in urban areas [9].  
The Reported Road Casualties Great Britain reported that 25% of all road fatalities in 2016 were pedestrians and that 18% of all road accidents in urban areas included a pedestrian. It is also reported that the vast majority of pedestrian to vehicle interactions occur in urban area; unsurprisingly, four wheeled motor vehicles are the most frequently involved vehicle [11].  
A total number of 448 pedestrians lost their lives on UK roads in 2016 and interestingly, 61.6% of these fatalities were in non-occluded scenarios, meaning that the pedestrian was in full view at the time of collision. A total of 12.5% of pedestrian deaths occured on a pedestrian crossing facility at the time of collision. When considering all severities of injury to pedestrians on crossings, the most frequently involved crossing type is a Pelican crossing (34.3%), closely followed by a light controlled junction (31.6%), and Zebra crossing (28.6%). With this information, it is clear that collecting relevant scenarios is crucially important [11].  
All of these statistics can offer valuable insight into scenarios, junctions, and situations which will be of higher interest for automated vehicles when training, testing, and validating their pedestrian safety. This information gives a macroscopic view of the work currently being done to reduce pedestrian fatalities on the road. With pedestrian deaths reducing at a slower rate, and in some areas actually increasing, it is clear that pedestrian safety is an issue that needs to remain at the forefront of research. This allows developers and engineers to better concentrate on areas of interest where interactions are more likely to occur and to train their systems to have a better knowledge of these scenarios.  
\begin{table}
\begin{tabular}{c c} \hline \hline
**World Region** & **Proportion** \\ \hline Africa & 39\% \\ Eastern Mediterranean & 27\% \\ Europe & 26\% \\ Western Pacific & 23\% \\ The Americas & 22\% \\ South-East Asia & 13\% \\ \hline World & 22\% \\ \hline \hline \end{tabular}
\end{table}
Table 1: Proportion of pedestrian deaths per world region [8].  
\begin{table}
\begin{tabular}{c c c} \hline \hline
**City, State** & **Proportion** & **Total Road Deaths** \\ \hline New York, NY & 59.6\% & 230 \\ San Francisco, CA & 50.0\% & 28 \\ Boston, MA & 48.1\% & 27 \\ Fresno, CA & 46.2\% & 13 \\ San Diego, CA & 43.8\% & 96 \\ Philadelphia, PA & 42.6\% & 101 \\ Los Angeles, CA & 41.3\% & 315 \\ \hline \hline \end{tabular}
\end{table}
Table 2: Proportion of pedestrian deaths from total road deaths in selected US cities—2016 [10].