Pedestrian Behavior Prediction for Automated Driving: Requirements, Metrics, and Relevant Features. - Michael Herman; Jörg Wagner; Vishnu Suganth Prabhakaran; Nicolas Möser; Hanna Ziesche; Waleed Ahmed; Lutz Bürkle; Ernst Kloppenburg; Claudius Gläser (IEEE Trans. Intell. Transp. Syst., 2022)