A method for sorting on-highway pedestrians and top-view pedestrian risk quantification method based on planar world coordinate system belong to the field of moving object tracking processing. In order to solve the problem of the current classification of road pedestrians, the in-vehicle camera acquire road pedestrian sequence. And classify road pedestrians based on the magnetic relationship between road pedestrians, which is characterized by the moving speed of the pedestrian, the relative distance between pedestrians in the sequence image, and the relative distance between the pedestrian and the camera. Classification of the moving speed, the relative distance between pedestrians in the image, and the relative distance between pedestrians and cameras, and the determination of the magnetic relationship can be used as an important reference for autonomous vehicles or assisted driving systems in obstacle avoidance and path planning.
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