  Rapid advancements in driver-assistance technology will lead to the
integration of fully autonomous vehicles on our roads that will interact with
other road users. To address the problem that driverless vehicles make
interaction through eye contact impossible, we describe a framework for
estimating the crossing intentions of pedestrians in order to reduce the
uncertainty that the lack of eye contact between road users creates. The
framework was deployed in a real vehicle and tested with three experimental
cases that showed a variety of communication messages to pedestrians in a
shared space scenario. Results from the performed field tests showed the
feasibility of the presented approach.
