微型移動解決方案的快速崛起，特別是電動滑板車和自動化移動機器人，為城市交通系統帶來了挑戰與機遇。我們研究了這些個人移動工具與行人群體之間的互動，以確保所有使用者在共享通行道上的安全與舒適。我們修改了社會力模型，以捕捉電動滑板車的動態，並進一步更新模型，以將移動機器人納入未來的步道中。這些模型改善了對電動滑板車和移動機器人與行人互動的預測。此外，碰撞時間度量的整合增強了主觀安全感知的評估，使我們對異質性群眾動態有了更深入的理解。

研究通過隔離和群體實驗驗證了數學框架，提供了影響行人安全的因素見解，如人行道寬度和行人密度。實際挑戰也得到了處理，具體表現為開發非線性控制策略，讓自動電動滑板車能夠在導航至充電站時自我平衡，從而減少與遺棄車輛相關的問題。

我們強調了需要優先考慮行人舒適度和安全性的監管方法和設計策略。通過展示預測碰撞時間與主觀安全之間的強相關性，我們提出了一個評估和統一潛在解決方案的指標。我們為城市規劃師、政策制定者和設計師提供了可行的建議。該研究創造了更安全、更高效的共享城市環境，有效地容納了電動滑板車的增長及即將整合的自動化機器人。

The rapid rise of micro-mobility solutions, particularly electric scooters and autonomous mobile robots, presents both challenges and opportunities for urban transportation systems. We investigate the interactions between these personal mobility vehicles and pedestrian crowds to ensure safety and comfort for all users on shared travelways. We modify the social force model to capture the dynamics of electric scooters, and, further update it to incorporate mobile robots into futuristic sidewalks. The models improve predictions of e-scooter and mobile robot interactions with pedestrians. Additionally, the integration of time-to-collision metrics enhances the assessment of subjective safety perceptions, enabling a more nuanced understanding of heterogeneous crowd dynamics.
The research validates the mathematical frameworks through isolated and crowd
experiments, providing insights into factors influencing pedestrian safety, like sidewalk width and pedestrian density. Practical challenges are also addressed, namely through developing nonlinear control strategies for autonomous e-scooters that can self-balance when navigating to charging stations, thereby reducing issues related to abandoned vehicles.
We highlight the necessity for regulatory approaches and design strategies prioritizing pedestrian comfort and safety. By showing a strong correlation between projected time-to-collision and subjective safety, we propose a metric to evaluate and unify the potential solutions. We offer actionable recommendations for urban planners, policymakers, and designers. The study creates safer and more efficient shared urban environments that effectively accommodate the growing presence of electric scooters and the imminent integration of autonomous robots.

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