Search Results (38)

Autonomous driving in complex urban environments remains challenging due to perception uncertainty, dynamic multi-agent interactions, and control instability under adverse conditions. Despite advances in individual components, systematic evaluations of fully integrated modular pipelines under compounded urban disturbances remain scarce. This work presents a modular autonomous driving framework in CARLA Town10HD, integrating Convolutional Neural Network (CNN)-based perception using ResNet-18, global path planning via A* algorithm, and two control strategies: a classical Proportional–Integral–Derivative (PID) controller and a Deep Q-Network (DQN) agent with adaptive geometric steering assistance. A structured protocol assessed robustness across five scenarios: Heavy Rain, Dense Fog, Nighttime Driving, Dense Traffic, and Combined Extreme Conditions. The perception module achieved F1-scores close to 0.99 for traffic-sign, pedestrian, and lane classification; results reflect synthetic CARLA data and should not be interpreted as real-world generalization. The PID controller produced smoother trajectories with lower steering oscillations, while the DQN agent achieved faster traversal times at the cost of higher control variability. Route efficiency remained around 0.96 under isolated disturbances and decreased to 0.52 under compounded conditions, confirming sensitivity to multi-factor complexity. This study contributes a reproducible multi-scenario benchmark quantifying stability–adaptability trade-offs between classical and learning-based control, identifying scenario generalization and simulation-to-reality transfer as key future directions. Full article

Existing studies of street-related emotional perception mainly rely on static scene evaluations, which cannot capture the cumulative effects of environmental exposure during continuous walking. To address this limitation, this study proposes a method for predicting pedestrian physiological responses in sequential audiovisual street environments. Four real-world walking routes were selected, with outbound and return directions treated as independent paths, yielding eight paths and 32 valid samples. EEG, ECG, sound pressure level, first-person video, and GPS data were synchronously collected to construct a 1 s multimodal time-series dataset. Pearson correlation, Kendall correlation, and mutual information analyses were used to examine linear, monotonic, and nonlinear relationships between environmental variables and physiological indicators, and the resulting weights were incorporated into a Long Short-Term Memory (LSTM) model for multi-step prediction. Visual elements and noise exposure were the main factors influencing physiological responses. Among the models, the mutual-information-weighted LSTM performed best, achieving an R² of 0.77 for heart rate variability (RMSSD), whereas prediction of the EEG ratio (β/α and θ/β) remained limited. An additional independent street sample outside the training set was then used to generate a dual-dimensional EEG-ECG physiological response map, demonstrating the model’s potential for identifying emotional risk segments and supporting street-level micro-renewal. Full article

Urban air pollution remains a critical public health issue, especially in densely populated cities where pedestrians experience direct exposure to traffic-related and environmental emissions. This study develops and tests a pollution-aware pedestrian routing framework for Thessaloniki, Greece, designed to minimize environmental exposure while maintaining route efficiency. The framework combines high-resolution air-quality data and computational techniques to represent pollution patterns at pedestrian scale. Air-quality is expressed as a continuous European Air Quality Index (EAQI) and is embedded in a network-based routing engine (OSRM) that balances exposure and distance through a weighted optimization function. Using 3000 randomly sampled origin-destination pairs, exposure-aware routes are compared with conventional shortest-distance paths across short, medium, and long walking trips. Results show that exposure-aware routes reduce cumulative AQI exposure by an average of 4% with only 3% distance increase, while maintaining stable scaling across all route classes. Exposure benefits exceeding 5% are observed for approximately 8% of medium-length routes and 24% of long routes, while short routes present minimal or no detours, but lower exposure benefits. These findings confirm that integrating high-resolution environmental data into pedestrian navigation systems is both feasible and operationally effective, providing a practical foundation for future real-time, pollution-aware mobility services in smart cities. Full article

Indoor landmarks play a crucial role in the process of indoor positioning and route planning for pedestrians or unmanned devices. Indoor structural landmarks, a type of indoor landmarks, can provide rich steering and semantic descriptions for indoor navigation services. However, most traditional indoor landmark extraction methods rely on indoor points of interest and indoor vector map data. These methods face the problem of difficult acquisition of indoor data and overlook the exploration of indoor structural landmarks. Therefore, this paper innovatively proposes a method for extracting indoor structural landmarks based on the commonly available indoor fire protection plan images. First, the HSV model is employed to eliminate noise from the original image, and vector data of indoor components is obtained using the constructed Canny operator. Subsequently, the visibility is calculated based on the grids of indoor space segmentation. Finally, the identification and extraction of indoor structural landmarks are achieved through grid visibility classification, directional clustering analysis, and spatial proximity verification. This approach opens up new ideas for indoor landmark extraction methods. The experimental results show that the method proposed in this paper can effectively extract indoor structural landmarks, the extraction accuracy of indoor structural landmarks reaches over 90%, verifying the feasibility of using indoor fire protection plan data for landmark extraction and expanding the data sources for indoor landmark extraction. Full article

The contemporary landscape is characterised by overlapping values and pressures, where ecosystem services and cultural spaces are used by diverse categories of users. In fragile contexts such as the Phlegraean Fields in Italy, the exponential growth of mass tourism has intensified the anthropogenic impacts, exacerbated by limited landscape awareness among local communities. Thus, walkability fosters direct exploration, while experiential transects provide a lens to read ecological, cultural, and perceptual layers of places. Together with digital storytelling, these approaches converge in a phygital approach that enriches physical experience without supplanting it. The study covered approximately 115 km of routes across five municipalities, combining road audits, an 11-item survey, participatory mapping, and ArcGIS StoryMaps. Results showed a structurally complex and functionally fragile mobility system: sidewalks are discontinuous, lighting insufficient, less than one quarter of the network is fully pedestrian, and cycling facilities are almost absent. At the same time, digital layers diversified routes and supported situated learning. By integrating geo-spatial analysis and phygital tools, the research demonstrates a replicable strategy to enhance the awareness and sustainable enjoyment of complex landscapes. The present research is part of the PNRR project Changes ‘PE5Changes_Spoke1-WP4-Historical Landscapes Traditions and Cultural Identities’. Full article

This study proposes a novel framework integrating Building Information Modeling (BIM) and Geographic Information Systems (GIS) with real-time crowd analytics from Closed-Circuit Television (CCTV) for quantitative walkability assessment. The framework extends open data standards (IFC and CityGML) to model infrastructural and pedestrian flow attributes comprehensively. A walkability scoring mechanism quantifies route quality based on accessibility, efficiency, and physical comfort, differentiating among pedestrian groups, such as individuals sensitive to weather conditions or carrying belongings. Implemented at the Hong Kong University of Science and Technology (HKUST), results indicate that the framework effectively captures variations in walkability scores due to directional differences (uphill vs. downhill), crowd conditions, and operational constraints like facility closures. Statistical tests confirm significant differences in walking costs across these scenarios with variations of up to 30%, demonstrating the framework’s robustness and practical utility for real-time, human-centric urban infrastructure planning. Full article

Modeling pedestrian–vehicle interaction behaviors not only helps better predict the intentions and actions of traffic participants but also contributes to generating more realistic pedestrian trajectories for testing autonomous vehicles. Most existing pedestrian–vehicle interaction models use repulsive forces toward target directions to avoid collisions. However, pedestrian agents in these models lack the ability to plan avoidance routes based on their positions when facing conflicting vehicles, leading to poor simulation effects at unsignalized intersections. By analyzing the crossing trajectories of pedestrians at unsignalized intersections through video data, we observed that when participants reject a current vehicle gap, they may tend to move toward the vehicle’s rear to start crossing the traffic flow earlier, thereby obtaining a safer opportunity to cross the road. In contrast, most previous pedestrian–vehicle interaction models only simulated pedestrians’ avoidance by moving away from vehicles. In response, we propose a pedestrian–vehicle interaction model incorporating pedestrian avoidance tendencies, which is based on the social force framework. Our improvements include refining the vehicle’s influence on pedestrians in lateral and longitudinal dimensions. The pedestrian agents in this model can make appropriate crossing decisions and select collision avoidance paths according to traffic conditions. This model can simulate pedestrian–vehicle interaction scenarios at unsignalized intersections and can be extended to pedestrian safety testing for autonomous vehicles. Full article

Public transport is an integral part of sustainable urban development when its use is promoted by setting bus priority routes (BPRs). BPRs provide clear mobility benefits, but they raise pedestrian safety concerns. In this study, observations were conducted at signalized intersections with two types of BPRs, center-lane and curbside, aiming to characterize pedestrian crossing behaviors, with a particular focus on red-light crossings. We found that at intersections with center-lane BPRs, 30% of pedestrians crossed at least one crosswalk on red, while at another type, 11% crossed on red. Multivariate analyses showed that the risk of crossing on red was substantially higher at intersections with center-lane vs. curbside BPRs; it was also higher among pedestrians crossing to/from the bus stop, males, and young people but lower under the presence of other waiting pedestrians. Furthermore, among pedestrians crossing on red at center-lane BPRs, over 10% did not check the traffic before crossing and another 10% checked the traffic in the wrong direction, thus further increasing the risk. At center-lane BPRs, infrastructure solutions are needed to reduce pedestrian intention to cross on red. Additionally, education and awareness programs for pedestrians should be promoted to emphasize the heightened risk of red-light crossing at intersections with BPRs. Full article

This study presents a novel approach to enhancing indoor navigation in crowded multi-terminal airports using visible light communication (VLC) technology. By leveraging existing luminaires as transmission points, encoded messages are conveyed through modulated light signals to provide location-specific guidance. The objectives are to facilitate navigation, optimize routes, and improve system performance through Edge/Fog integration. The methodology includes the use of tetrachromatic LED-equipped luminaires with On–Off Keying (OOK) modulation and a mesh cellular hybrid structure. Detailed airport modeling and user analysis (pedestrians and luggage/passenger carriers) equipped with PINPIN optical sensors are conducted. A VLC-specific communication protocol with coding and decoding techniques ensures reliable data transmission, while wayfinding algorithms offer real-time guidance. The results show effective data transmission and localization, enabling self-localization, travel direction inference, and route optimization. Agent-based simulations demonstrate improved traffic control, with analyses of user halting and average speed. This approach provides reliable indoor navigation independent of GPS signals, enhancing accessibility and convenience for airport users. The integration of VLC with Edge/Fog architecture ensures efficient movement through complex airport layouts. Full article

The growing urban population and traffic congestion underline the importance of building pedestrian-friendly environments to encourage walking as a preferred mode of transportation. However, a major challenge remains, which is the absence of such pedestrian-friendly walking environments. Identifying locations and routes with high pedestrian concentration is critical for improving pedestrian-friendly walking environments. This paper presents a quantitative method to map pedestrian walking behavior by utilizing real-time data from mobile phone sensors, focusing on the University of Moratuwa, Sri Lanka, as a case study. This holistic method integrates new urban data, such as location-based service (LBS) positioning data, and data clustering with unsupervised machine learning techniques. This study focused on the following three criteria for quantifying walking behavior: walking speed, walking time, and walking direction inside the experimental research context. A novel signal processing method has been used to evaluate speed signals, resulting in the identification of 622 speed clusters using K-means clustering techniques during specific morning and evening hours. This project uses mobile GPS signals and machine learning algorithms to track and classify pedestrian walking activity in crucial sites and routes, potentially improving urban walking through mapping. Full article

The need to establish safe, accessible, and inclusive pedestrian routes is considered one of the European Union’s main priorities. We have developed a method of assessing pedestrian mobility in the surroundings of urban public buildings to evaluate the level of accessibility and inclusion, especially for people with reduced mobility. In the first stage of assessment, artificial intelligence algorithms were used to identify pedestrian crossings and the precise geographical location was determined by deep learning-based object detection with satellite or aerial orthoimagery. In the second stage, Geographic Information System techniques were used to create network models. This approach enabled the verification of the level of accessibility for wheelchair users in the selected study area and the identification of the most suitable route for wheelchair transit between two points of interest. The data obtained were verified using inertial sensors to corroborate the horizontal continuity of the routes. The study findings are of direct benefit to the users of these routes and are also valuable for the entities responsible for ensuring and maintaining the accessibility of pedestrian routes. Full article

Ensuring the spatial equity of health service facilities (HSFs) is crucial for the well-being of residents. However, previous research has predominantly focused on the accessibility and equity of single-type facilities, neglecting the residents’ demand for diversified types of health services. This study proposes a multi-type, Gaussian-based, two-step floating catchment area method (MT-G2SFCA) to assess the comprehensive accessibility and equity of multi-type HSFs in different age groups in the Hedong District of Tianjin, with the Gini coefficient and the bivariate local Moran’s I. Furthermore, the key factors affecting the accessibility were explored through a geo-detector. The results indicate the following: (1) Neglecting the health benefits of facility type diversity can result in an underestimation of the accessibility and equity; (2) neglecting the differences in walking ability of the elderly can result in an overestimation of the accessibility and equity; and (3) the Pedestrian Route Directness is the key factor affecting the accessibility and equity in high-density urban areas, and especially that the facility density is the key factor for the elderly. This research emphasizes the impact of facility type diversity on the accessibility and equity of HSFs, which can offer more precise and holistic technical assistance and policy recommendations for optimizing the allocation of HSFs. Full article

While transit-oriented development (TOD) has been widely adopted in urban design alongside the expansion of urban metro transit, the creation of pedestrian-friendly environments has often been overlooked during implementation. This has resulted in a lower walking advantage around metro transit stations. To address this issue and encourage walking and public transport use in metro transit station areas, this study undertook a quantitative comparative analysis of the pedestrian environment in five Chongqing metro transit station areas. The analysis focused on three key dimensions: “comprehensive evaluation”, “basic scale”, and “structural quality”. The comprehensive evaluation considered factors such as the pedestrian catchment area ratio, POI kernel density distribution, and crowd agglomeration. The basic scale dimension comprised floor area ratio, building density, pedestrian road density, and the quantity of station entrances and exits. Finally, structural quality factors included land use type mixing degree, POI function mixing degree, intersection connectivity, median street length, pedestrian route directness, and green view index. Based on these analyses, this study proposes a series of pedestrian environment design strategies including land use and transportation. The strategies for land use advocate for “developing compact and diverse land use”, “strengthening attraction of station center”, “positioning large projects on the edge”, “restricting private transportation capabilities”. The strategies for transportation consist of “increasing pedestrian road density”, “traffic calming organization”, “subdivision of road types”, and “three-dimensional pedestrian traffic system”. These strategies aim to create a more humanized and environmentally friendly pedestrian environment, proactively rise to the challenge of climate change, thereby cultivating sustainable urban development. Full article

Urban transformations, driven by human activities, result in unique urban ecosystems that significantly impact thermal environments. This study delves into the implications of anthropogenic climate change on diverse urban structures, aiming to enhance urban resilience. A key question arises: how do different urban structures affect the urban thermal environments at multiple scales? This study explores the relationship between urban morphology and temperature variations at both surface and vertical levels during different times of the day. Using data loggers and vertical temperature recordings through UAV, temperature data were collected on pre-established pedestrian pathways that cover different urban morphologies. The selection of the routes covered different densities of urbanized areas and green spaces. This facilitated the creation of a study examining the impact of both 2D and 3D urban green space structures on the thermal landscape of a Mediterranean city—Coimbra, Portugal. The gathered data provided insight into (1) the role of green spaces in the climatic regulation of the city, regardless of the time of the day; (2) the direct relation between surface temperatures and green space morphology; (3) the fact that green spaces act as a cell of fresh air, even in urban areas where there is a measurable urban heat island; (4) the fact that urban areas with green spaces with high tree density present great thermal inertia specific to each morphology in the first 30 m, whereas from 30 to 200 m all profiles present similarly; (5) urban areas with green spaces with high tree density show differentiated temperatures, both at the surface and at altitude. This research underscores the pivotal role of urban green spaces in city planning, emphasizing their importance for bolstering climate change resilience. Acknowledging the thermal regulation benefits offered by green spaces is imperative for aligning with sustainable development objectives in modern cities. Full article

The comprehension of the fire evacuation process is crucial for developing effective evacuation management strategies to enhance pedestrian safety. In this study, we construct a classroom with internal obstacles forming intersecting pathways in Minecraft, and conduct a series of virtual evacuation experiments involving multiple pedestrians to investigate the pedestrian behaviors. Case studies in a single-exit classroom demonstrated that normal obstacles and fire in the main evacuation path prompt pedestrians to detour, and pedestrians exhibit fire-avoidance behavior in advance during fire emergency. In the two-exit classroom experiments, normal obstacles have a limited effect on the exit choices of pedestrians, as they primarily choose the nearest exit. Pedestrians positioned in the center of classroom are influenced by their initial orientations, and some pedestrians opt for exits in their initial facing directions. The presence of fire has a greater influence on pedestrians’ exit choices, with most opting for exits away from the fire. Furthermore, during fire emergencies, some pedestrians engage in risk-taking behavior by choosing higher-risk paths in pursuit of a faster evacuation. These adventurous pedestrians proactively plan routes that maximize their distance from the fire and exhibit orderly queuing behavior. These findings are helpful to reveal pedestrian behaviors during fire emergencies. Full article