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.