A method for estimating total delay of vehicle passing and pedestrian crossing intersection of signal-free road section considering vehicle avoidance rate

Abstract

The application provides a total delay estimation method for the interaction between motor vehicle passing and pedestrian crossing at a pedestrian crossing on a non-signal control road section considering motor vehicle avoidance rate, and belongs to the technical field of urban traffic management. The specific implementation is as follows: firstly, the research period selection and traffic scene data acquisition are carried out, and the total delay estimation of the interaction between motor vehicle passing and pedestrian crossing at a pedestrian crossing on a non-signal control road section is carried out for each research period; secondly, a minimum safety gap distance solving method for the interaction between motor vehicle passing and pedestrian crossing at a pedestrian crossing is provided; thirdly, a waiting time solving method for the interaction between motor vehicle passing and pedestrian crossing at a pedestrian crossing is provided; fourthly, a secondary branch delay solving method for the interaction between motor vehicle passing and pedestrian crossing at a pedestrian crossing is provided; then, a primary branch delay solving method for the interaction between motor vehicle passing and pedestrian crossing at a pedestrian crossing is provided; finally, the total delay of the interaction between motor vehicle passing and pedestrian crossing at a pedestrian crossing on a non-signal control road section is determined.

Description

Technical Field

[0001] This invention belongs to the field of urban traffic management technology, and specifically relates to a method for evaluating and analyzing traffic operation efficiency and safety. Background Technology

[0002] With the acceleration of urbanization, urban transportation systems face enormous challenges. Among the many areas of traffic management and control, the traffic efficiency and safety issues of pedestrian crossings on unsignalized road sections are particularly prominent. Pedestrian-vehicle interaction delays, as a key indicator for evaluating the operational efficiency, safety benefits, and sustainability of transportation systems, provide important data for quantifying these dimensions.

[0003] Despite the legal requirement to "yield to pedestrians," this rule has not been strictly followed. In actual traffic flow, the yielding rate of motor vehicles has not reached 100%, especially during morning and evening rush hours, when the yielding behavior of motor vehicles is unstable. This reality further increases the complexity and challenge of estimating delays in pedestrian-vehicle interactions.

[0004] Current delay estimation models are typically based on idealized or simplified assumptions, failing to adequately consider the actual impact of changes in vehicle yield rates on pedestrian-vehicle interaction delays. This makes it difficult to accurately predict and address pedestrian-vehicle interaction delays at unsignalized crosswalks. Therefore, it is necessary to establish a more accurate pedestrian-vehicle interaction delay estimation model that considers both actual changes in vehicle yield rates and dynamic changes in traffic flow. This would provide urban traffic planners and policymakers with more precise quantitative data for road design planning, traffic signal system optimization, and the implementation of traffic management strategies. Summary of the Invention

[0005] Therefore, the technical problem to be solved by this invention is to calculate the total delay time of vehicle and pedestrian traffic from the perspective of road right-of-way when interaction occurs between motor vehicle traffic and pedestrian crossing. This invention takes an unsignalized road segment with a pedestrian crossing as a scenario, and based on the crossing gap theory, considers the total delay time of vehicle and pedestrian traffic under different motor vehicle yield rates, dividing the solution process into three stages. The first stage proposes methods for calculating the minimum safe gap distance and waiting time for the interaction between motor vehicle traffic and pedestrian crossing; the second stage proposes methods for calculating the secondary and primary branch delays of the interaction between motor vehicle traffic and pedestrian crossing; the third stage determines the total delay of the interaction between motor vehicle traffic and pedestrian crossing in an unsignalized road segment.

[0006] To solve the above-mentioned technical problems, the technical solution adopted by the present invention is a method for estimating the total delay of vehicle traffic and pedestrian crossing at crosswalks in unsignalized road sections, taking into account the vehicle yield rate. The implementation process of this method is as follows:

[0007] Step 1: Select the research period and acquire traffic scenario data. The selection of the research period refers to estimating the total delay of vehicle traffic and pedestrian crossing interaction at crosswalks for each research period, with any time as the starting time and 1 hour as the length of the period. The traffic scenario data refers to acquiring road infrastructure parameters, vehicle traffic parameters, and pedestrian crossing parameters.

[0008] The road infrastructure parameters refer to the length L of the pedestrian crossing and the width W of the motor vehicle lane.

[0009] The motor vehicle traffic parameters refer to the hourly traffic volume Q of motor vehicles. v Motor vehicle yield rate Y, average vehicle speed v when crossing the street c The average time t for motor vehicles to cross a pedestrian crossing v The average braking time t of a motor vehicle b t, the reaction and judgment time of motor vehicles r ;

[0010] The pedestrian crossing parameters refer to the two-way pedestrian hourly traffic volume Q. p1 and Q p2 Average pedestrian crossing speed v p Pedestrian reaction judgment time t r ';

[0011] Step 2: Propose a method for determining the minimum safe clearance distance between motor vehicle traffic and pedestrian crossings at crosswalks. The minimum safe clearance refers to the minimum safe clearance distance τ between motor vehicles and pedestrians when a road segment is in use. p The minimum safe clearance distance τ between pedestrians and motor vehicles at crosswalks v ;

[0012] The solution method provides the minimum safe clearance distance τ for motor vehicles crossing pedestrians. p for:

[0013]

[0014] In the formula, L is the length of the pedestrian crossing; v p t represents the average speed of pedestrians crossing the street. b The braking time of a motor vehicle; t r The reaction time of the motor vehicle is determined; all information is obtained from step one.

[0015] The minimum safe clearance distance τ for pedestrians crossing motor vehicles, as determined by the solution method, is... v for:

[0016]

[0017] In the formula, W is the width of the motor vehicle lane; v pt represents the average speed of pedestrians crossing the street. r 'Time to judge pedestrian reaction; t v This represents the average time for a motor vehicle to cross a pedestrian crossing; all values ​​are obtained from step one.

[0018] Step 3: Propose a method for calculating the waiting time for the interaction between motor vehicle traffic and pedestrian crossings at crosswalks. The waiting time refers to the waiting time required for motor vehicle traffic to proceed on the road segment. Meet the waiting time for pedestrians to cross the street at crosswalks The solution method is based on the crossing clearance theory, using the vehicle avoidance rate Y as a variable, and is determined according to the minimum safe clearance distance τ for vehicles crossing pedestrians on the road section as described in step two. p and the minimum safe clearance τ between pedestrians and motor vehicles at crosswalks v Solve the problem;

[0019] The vehicle yield rate Y in the solution method refers to the degree of compliance with traffic rules by motor vehicles on a road segment. It is reflected in the probability that motor vehicles yield to pedestrians crossing the street at crosswalks during the interaction between people and vehicles. The value range is Y = n, where n is a number with a precision of 1%, n∈{40%,41%,42%,...,90%}. The larger the value of Y, the greater the degree of compliance with traffic rules by motor vehicles on the road segment, and vice versa.

[0020] The solution method satisfies the waiting time for motor vehicles to pass through the road segment. This refers to the time interval between a motor vehicle starting from a stationary state and the appearance of a pedestrian, i.e., the time interval between two adjacent pedestrians crossing the crosswalk in succession, which is greater than the minimum safe clearance distance τ for a motor vehicle to cross the pedestrian crossing. p Time;

[0021] The solution method satisfies the waiting time of pedestrians crossing the street at crosswalks. This refers to the time interval between a pedestrian's initial stationary state and the appearance of a vehicle's front, i.e., the time interval between two adjacent motor vehicles passing through the pedestrian crossing in sequence, which is greater than the minimum safe clearance distance τ for pedestrians crossing the street and traversing motor vehicles. v Time;

[0022] Specifically, the waiting time for motor vehicles to pass through the road section. for:

[0023]

[0024] In the formula, The average number of vehicles waiting for pedestrians; The average time a motor vehicle waits for a pedestrian to cross the crosswalk; all are obtained from step one.

[0025] Among them, the average number of vehicles waiting for pedestrians for:

[0026]

[0027] In the formula, τ p λ is the minimum safe clearance distance for vehicles crossing pedestrians on a road segment. p1 and λ p2 Let λ be the average arrival rate of pedestrians in both directions. p1 =Q p1 / 3600、λ p2 =Q p2 / 3600 is calculated; Y is the vehicle yield rate; k is the time interval between vehicles and pedestrians before the vehicle crosses the pedestrian crossing, k = 1, 2, 3, ..., n, k∈N * N * It is the set of all positive integers; i is the number of pedestrian waiting times before a vehicle crosses a pedestrian, which is less than the minimum safe clearance distance τ between the vehicle and the pedestrian. p The pedestrian time interval, i = 1, 2, 3, ..., k, i ∈ N * N * It is the set of all positive integers; To select i distances τ smaller than the minimum safe clearance distance between vehicles and pedestrians from among the pedestrian waiting time distances of k vehicles before they cross the road, regardless of order. p The number of all possible combinations of pedestrian time distances is given by Calculated;

[0028] Among them, the average time for a motor vehicle to wait for a pedestrian to cross the crosswalk. for:

[0029]

[0030] In the formula, τ p λ is the minimum safe clearance distance for vehicles crossing pedestrians on a road segment. p1 and λ p2 Let λ be the average arrival rate of pedestrians in both directions. p1 =Q p1 / 3600、λ p2 =Q p2 / 3600 is calculated; Y is the vehicle avoidance rate; t α When the pedestrian distance of the first pedestrian flow is less than the minimum safe clearance distance τ for motor vehicles crossing pedestrians. p The average waiting time for motor vehicles is determined by Calculation yielded t β When the pedestrian spacing of the first pedestrian flow is greater than the minimum safe clearance distance τ for motor vehicles crossing pedestrians. pFurthermore, the pedestrian spacing of the other pedestrian flow is less than the minimum safe clearance distance τ for motor vehicles crossing pedestrians. p The average waiting time for motor vehicles is determined by Calculation yielded t γ When the pedestrian distance in both directions is greater than the minimum safe clearance distance τ for motor vehicles crossing pedestrians. p Furthermore, the average waiting time for motor vehicles when they choose to yield is determined by... Calculated;

[0031] Specifically, allow sufficient waiting time for pedestrians to cross the street at crosswalks. for:

[0032]

[0033] In the formula, The average number of pedestrians waiting for motor vehicles. The average time a pedestrian waits for a vehicle to pass;

[0034] Among them, the average number of pedestrians waiting for motor vehicles for:

[0035]

[0036] In the formula, τ v λ is the minimum safe clearance distance for pedestrians crossing the street and for vehicles crossing at a crosswalk; v The average arrival rate of motor vehicles is given by λ. v =Q v / 3600 is calculated; Y is the vehicle yield rate; k' is the pedestrian waiting time before crossing the vehicle, k'=1,2,3,...,n,k'∈N * N * It is the set of all positive integers;

[0037] Among them, the average number of pedestrians waiting for motor vehicles for:

[0038]

[0039] In the formula, τ v λ is the minimum safe clearance distance for pedestrians crossing the street and for vehicles crossing at a crosswalk; v The average arrival rate of motor vehicles;

[0040] Step 4: Propose a method for solving the secondary branch delays caused by the interaction between motor vehicle traffic and pedestrian crossings at crosswalks. The secondary branch delay solution refers to the acceleration and deceleration delays caused by motor vehicle traffic on a road segment. Parking delays caused by motor vehicle traffic Waiting delays caused by pedestrians crossing the street at crosswalks

[0041] Acceleration and deceleration delays caused by motor vehicles passing through pedestrian crossings for:

[0042]

[0043] In the formula, v c The average speed of motor vehicles crossing the street;

[0044] Specifically, delays caused by parking waiting due to the passage of motor vehicles. Based on the vehicle waiting time calculated in step three Solve the problem;

[0045] Delays caused by vehicles waiting at pedestrian crossings for:

[0046]

[0047] In the formula, λ v The average arrival rate of motor vehicles; v c The average speed of motor vehicles crossing the street; To accommodate the waiting time of motor vehicles on the road section

[0048] In particular, the waiting delays caused by pedestrians crossing the street at crosswalks Based on the pedestrian waiting time calculated in step three Solve the problem;

[0049] Waiting delays caused by pedestrians crossing crosswalks for:

[0050]

[0051] In the formula, To accommodate pedestrians' waiting time at crosswalks;

[0052] Step 5: Propose a method for solving the main branch delay caused by the interaction between motor vehicle traffic and pedestrian crossings at crosswalks. The main branch delay solution refers to the average delay D caused by pedestrian interference affecting motor vehicle traffic on the road segment. v The average delay D caused by motor vehicle interference at pedestrian crossings p ;

[0053] Specifically, the average delay D caused by pedestrian interference affecting motor vehicle traffic on road sections. v Based on the acceleration and deceleration delays caused by motor vehicle traffic on the road segment calculated in step four. and parking delays Solve the problem;

[0054] Average delay D caused by pedestrian interference affecting motor vehicle traffic on a road segment v for:

[0055]

[0056] In the formula, Delays caused by acceleration and deceleration of motor vehicles passing through the road section; Delays caused by parking and waiting for motor vehicles on the road section;

[0057] Specifically, the average delay D caused by vehicular interference at pedestrian crossings. p Based on the solution in step four, the waiting delay caused by pedestrians crossing the street at crosswalks is calculated. Solve the problem;

[0058] Average delay D caused by vehicular interference at pedestrian crossings p for:

[0059]

[0060] In the formula, λ v The average arrival rate of motor vehicles; The waiting delay caused by pedestrians crossing the street at crosswalks.

[0061] Step 6: Determine the total delay D between vehicular traffic and pedestrian crossings at crosswalks on unsignalized road sections;

[0062] The total delay D between vehicular traffic and pedestrian crossings at unsignalized road sections is:

[0063] D = D v +D p

[0064] In the formula, D v D represents the average delay in motor vehicle traffic caused by pedestrian interference on a road segment. p The average delay caused by motor vehicle interference at pedestrian crossings is calculated in step five.

[0065] The technical solution of the present invention has the following advantages compared with the prior art:

[0066] First, the proposed method for estimating the total delay of vehicle traffic and pedestrian crossings at crosswalks in unsignalized road sections, considering vehicle yielding rates, possesses strong universality and can be applied to different types of traffic scenarios. It adapts to various traffic parameters, such as vehicle yielding rates, hourly pedestrian flow, and hourly vehicle flow. Second, the proposed delay estimation method provides quantitative data on the total delay of vehicle-pedestrian interactions under various traffic scenarios. In the context of "yielding to pedestrians," it can provide traffic policymakers with tools for decision verification and effectiveness evaluation, enabling refined policy adjustments. Furthermore, it can provide data support for urban traffic planners to accurately analyze traffic flow patterns, thereby allowing for targeted adjustments to traffic control measures, such as the setting and optimization of traffic signals, road design planning, and the formulation of traffic management strategies. Attached Figure Description

[0067] Figure 1 This is a schematic diagram of the layout of pedestrian crossings and motor vehicle lanes on a road section without traffic signals.

[0068] Figure 2 This is a diagram illustrating the minimum safe clearance distance for motor vehicles crossing pedestrians: (a) When the pedestrian clearance is less than the minimum safe clearance distance for motor vehicles crossing pedestrians; (b) When the pedestrian clearance is greater than the minimum safe clearance distance for motor vehicles crossing pedestrians.

[0069] Figure 3 This diagram illustrates the minimum safe clearance distance for pedestrians crossing the street from motor vehicles: (a) When the frontal distance between vehicles is less than the minimum safe clearance distance for pedestrians crossing the street from motor vehicles; (b) When the frontal distance between vehicles is greater than the minimum safe clearance distance for pedestrians crossing the street from motor vehicles.

[0070] Figure 4 This is a graph showing the average delay of motor vehicle traffic and the average delay of pedestrians crossing the street at crosswalks, based on data of total hourly pedestrian traffic and hourly motor vehicle traffic volume in both directions under different motor vehicle yield rates.

[0071] Figure 5 The graph shows the total delay in pedestrian-vehicle interaction under different vehicle yield rates, based on case study data of total hourly pedestrian and vehicle traffic volumes.

[0072] Figure 6 This is a graph showing the total delay of pedestrian-vehicle interaction under different conditions of vehicle avoidance rate, total hourly pedestrian traffic volume in both directions, and hourly motor vehicle traffic volume.

[0073] Figure 7 This is a flowchart illustrating the implementation of the present invention. Detailed Implementation

[0074] by Figure 1The pedestrian crossing shown in the example is used to study traffic scenarios and provide a numerical case study.

[0075] Step 1: Select the research period and acquire traffic scenario data. The selection of the research period refers to estimating the total delay of vehicle traffic and pedestrian crossing interaction at crosswalks for each research period, with any time as the starting time and 1 hour as the length of the period. The traffic scenario data refers to acquiring road infrastructure parameters, vehicle traffic parameters, and pedestrian crossing parameters.

[0076] Taking the morning rush hour from 7:30 to 8:30 as an example, the study period for estimating the total delay of the interaction between motor vehicle traffic and pedestrian crossing at crosswalks is shown in Table 1.

[0077] Table 1 Traffic Scene Data during Morning Rush Hour (7:30-8:30)

[0078]

[0079] Step 2: Propose a method for determining the minimum safe clearance distance between motor vehicle traffic and pedestrian crossings at crosswalks. The minimum safe clearance refers to the minimum safe clearance distance τ between motor vehicles and pedestrians when a road segment is in use. p The minimum safe clearance distance τ between pedestrians and motor vehicles at crosswalks v ;

[0080] The solution method provides the minimum safe clearance distance τ for motor vehicles crossing pedestrians. p for:

[0081]

[0082] The minimum safe clearance τ between motor vehicles and pedestrians was calculated. p It takes 7.5 seconds;

[0083] The minimum safe clearance distance τ for pedestrians crossing motor vehicles, as determined by the solution method, is... v for:

[0084]

[0085] The minimum safe clearance τ for pedestrians crossing motor vehicles was calculated. v It takes 5.9 seconds;

[0086] Step 3: Propose a method for calculating the waiting time for the interaction between motor vehicle traffic and pedestrian crossings at crosswalks. The waiting time refers to the waiting time required for motor vehicle traffic to proceed on the road segment. Meet the waiting time for pedestrians to cross the street at crosswalks The solution method is based on the crossing clearance theory, using the vehicle avoidance rate Y as a variable, and is determined according to the minimum safe clearance distance τ for vehicles crossing pedestrians on the road section as described in step two. p and the minimum safe clearance τ between pedestrians and motor vehicles at crosswalks v Solve the problem;

[0087] Specifically, the waiting time for motor vehicles to pass through the road section. for:

[0088]

[0089] The waiting time required to allow vehicles to pass under different vehicle yield rates was calculated. As shown in Table 2;

[0090] Table 2 Waiting times for vehicles to pass under different vehicle yield rates on road sections

[0091]

[0092] Among them, the average number of vehicles waiting for pedestrians for:

[0093]

[0094] The average arrival rate λ of pedestrians in both directions was calculated. p1 0.07, λ p2 It is 0.09;

[0095] The average number of vehicles waiting for pedestrians under different vehicle yield rates was calculated. As shown in Table 3;

[0096] Table 3. Average number of vehicles waiting for pedestrians under different vehicle yield rates.

[0097]

[0098] Among them, the average time for a motor vehicle to wait for a pedestrian to cross the crosswalk. for:

[0099]

[0100] The average time a vehicle waits for a pedestrian to cross a crosswalk under different vehicle yield rates was calculated. As shown in Table 4;

[0101] Table 4. Average time for a motor vehicle to wait for a pedestrian to cross the crosswalk under different motor vehicle yield rates.

[0102]

[0103] Specifically, allow sufficient waiting time for pedestrians to cross the street at crosswalks. for:

[0104]

[0105] The waiting time for pedestrians to cross the street at the crosswalk was calculated. As shown in Table 5;

[0106] Table 5. Waiting times for pedestrians to cross the street at crosswalks under different vehicle yield rates.

[0107]

[0108] Among them, the average number of pedestrians waiting for motor vehicles for:

[0109]

[0110] The calculated average arrival rate λ of the dispatched trains v It is 0.29;

[0111] The average number of pedestrians waiting for motor vehicles under different motor vehicle yield ratio conditions was calculated. As shown in Table 6

[0112] Table 6. Average number of pedestrians waiting for motor vehicles under different motor vehicle yield rates.

[0113]

[0114] Among them, the average number of pedestrians waiting for motor vehicles for:

[0115]

[0116] The average time a pedestrian waits for a vehicle to pass has been calculated. It took 2.17 seconds;

[0117] Step 4: Propose a method for solving the secondary branch delays caused by the interaction between motor vehicle traffic and pedestrian crossings at crosswalks. The secondary branch delay solution refers to the acceleration and deceleration delays caused by motor vehicle traffic on a road segment. Parking delays caused by motor vehicle traffic Waiting delays caused by pedestrians crossing the street at crosswalks

[0118] Acceleration and deceleration delays caused by motor vehicles passing through pedestrian crossings for:

[0119]

[0120] Calculations show the acceleration and deceleration delays caused by motor vehicles crossing pedestrian crossings. It takes 0.45 seconds;

[0121] Specifically, delays caused by parking waiting due to the passage of motor vehicles. Based on the vehicle waiting time calculated in step three Solve the problem;

[0122] Delays caused by vehicles waiting at pedestrian crossings for:

[0123]

[0124] The calculated delay in stopping due to motor vehicles crossing pedestrian crossings was obtained. As shown in Table 7;

[0125] Table 7. Stopping delays caused by motor vehicles crossing pedestrian crossings under different motor vehicle yield rates.

[0126]

[0127] In particular, the waiting delays caused by pedestrians crossing the street at crosswalks Based on the pedestrian waiting time calculated in step three Solve the problem;

[0128] Waiting delays caused by pedestrians crossing crosswalks for:

[0129]

[0130] The waiting delays for pedestrians crossing crosswalks under different yield rates were calculated. As shown in Table 8;

[0131] Table 8. Stopping delays caused by motor vehicles crossing pedestrian crossings under different motor vehicle yield rates.

[0132]

[0133] Step 5: Propose a method for solving the main branch delay caused by the interaction between motor vehicle traffic and pedestrian crossings at crosswalks. The main branch delay solution refers to the average delay D caused by pedestrian interference affecting motor vehicle traffic on the road segment. v The average delay D caused by motor vehicle interference at pedestrian crossings p ;

[0134] Specifically, the average delay D caused by pedestrian interference affecting motor vehicle traffic on road sections. v Based on the acceleration and deceleration delays caused by motor vehicle traffic on the road segment calculated in step four. and parking delays Solve the problem;

[0135] Average delay D caused by pedestrian interference affecting motor vehicle traffic on a road segment v for:

[0136]

[0137] The average delay D caused by pedestrian interference on a road segment was calculated under different vehicle avoidance rates. v As shown in Table 9;

[0138] Table 9 Average Delay of Motor Vehicle Travel on Road Sections under Different Motor Vehicle Yield Rates

[0139]

[0140] Specifically, the average delay D caused by vehicular interference at pedestrian crossings. p Based on the solution in step four, the waiting delay caused by pedestrians crossing the street at crosswalks is calculated. Solve the problem;

[0141] Average delay D caused by vehicular interference at pedestrian crossings p for:

[0142]

[0143] The average delay D caused by vehicle interference at pedestrian crossings under different vehicle yield rates was calculated. p As shown in Table 10;

[0144] Table 10 Average Pedestrian Crossing Delay at Crosswalks under Different Motor Vehicle Yield Rates

[0145]

[0146] Step 6: Determine the total delay D between vehicular traffic and pedestrian crossings at crosswalks on unsignalized road sections;

[0147] The total delay D between vehicular traffic and pedestrian crossings at unsignalized road sections is:

[0148] D = D v +D p

[0149] The total delay D of the interaction between motor vehicle traffic and pedestrian crossing at crosswalks on unsignal-controlled road sections under different yield rates was calculated and is shown in Table 11.

[0150] Table 11 Total delay of pedestrian-vehicle crossing interaction under different vehicle avoidance rates

[0151]

[0152] Calculations show that the higher the vehicle avoidance rate, the greater the total delay in pedestrian-vehicle crossing interactions. Figure 5 As shown. This is because, while pedestrian crossing delays decrease to some extent with the increase in vehicle yielding rates, vehicles need to slow down or stop more frequently, and the headway cannot accommodate all pedestrians crossing, resulting in reduced traffic efficiency for vehicles. Figure 4 As shown, although pedestrian delays gradually decrease during this process, motor vehicle delays increase at a faster rate than the rate of decrease in pedestrian delays, thus increasing the total delay of pedestrian-vehicle cross-street interactions.

Claims

1. A method for estimating the total delay of vehicle traffic and pedestrian crossing at crosswalks on unsignalized road sections, considering vehicle yield rate, characterized in that... Includes the following steps: Step 1: Select the research period and acquire traffic scenario data. The selection of the research period refers to taking any time as the starting time and taking 1 hour as the length of a period, and estimating the total delay of the interaction between motor vehicle traffic and pedestrian crossing at crosswalks for each research period. The traffic scenario data refers to acquiring road infrastructure parameters, motor vehicle traffic parameters, and pedestrian crossing parameters. The road infrastructure parameters refer to the length L of the pedestrian crossing and the width W of the motor vehicle lane. The motor vehicle traffic parameters refer to the hourly traffic volume Q of motor vehicles. v Motor vehicle yield rate Y, average vehicle speed v when crossing the street c The average time t for motor vehicles to cross a pedestrian crossing v The average braking time t of a motor vehicle b t, the reaction and judgment time of motor vehicles r ; The pedestrian crossing parameters refer to the two-way pedestrian hourly traffic volume Q. p1 and Q p2 Average pedestrian crossing speed v p Pedestrian reaction judgment time t r '; Step 2: Propose a method for determining the minimum safe clearance distance between motor vehicle traffic and pedestrian crossings at crosswalks. The minimum safe clearance refers to the minimum safe clearance distance τ between motor vehicles and pedestrians when a road segment is in use. p The minimum safe clearance distance τ between pedestrians and motor vehicles at crosswalks v ; The solution method provides the minimum safe clearance distance τ for motor vehicles crossing pedestrians. p for: In the formula, L is the length of the pedestrian crossing; v p t represents the average speed of pedestrians crossing the street. b The braking time of the motor vehicle; t r The reaction time of the motor vehicle is determined; all information is obtained from step one. The minimum safe clearance distance τ for pedestrians crossing motor vehicles, as determined by the solution method, is... v for: In the formula, W is the width of the motor vehicle lane; v p t represents the average speed of pedestrians crossing the street. r 'Time for judging pedestrian reaction; t v This represents the average time for a motor vehicle to cross a pedestrian crossing; all values ​​are obtained from step one. Step 3: Propose a method for calculating the waiting time for the interaction between motor vehicle traffic and pedestrian crossings at crosswalks. The waiting time refers to the waiting time required for motor vehicle traffic to proceed on the road segment. Meet the waiting time for pedestrians to cross the street at crosswalks The solution method is based on the crossing clearance theory, using the vehicle avoidance rate Y as a variable, and is determined according to the minimum safe clearance distance τ for vehicles crossing pedestrians on the road section as described in step two. p and the minimum safe clearance τ between pedestrians and motor vehicles at crosswalks v Solve the problem; The vehicle yield rate Y in the solution method refers to the degree of compliance with traffic rules by motor vehicles on a road segment. It is reflected in the probability that motor vehicles yield to pedestrians crossing the street at crosswalks during the interaction between people and vehicles. The value range is Y = n, where n is a number with a precision of 1%, n∈{40%,41%,42%,...,90%}. The larger the value of Y, the greater the degree of compliance with traffic rules by motor vehicles on the road segment, and vice versa. The solution method satisfies the waiting time for motor vehicles to pass through the road segment. This refers to the time interval between a motor vehicle starting from a stationary state and the appearance of a pedestrian, i.e., the time interval between two adjacent pedestrians crossing the crosswalk in succession, which is greater than the minimum safe clearance distance τ for a motor vehicle to cross the pedestrian crossing. p Time; The solution method satisfies the waiting time of pedestrians crossing the street at crosswalks. This refers to the time interval between a pedestrian's initial stationary state and the appearance of a vehicle's front, meaning the time interval between two adjacent vehicles passing through the pedestrian crossing is greater than the minimum safe clearance τ for pedestrians crossing the street. v Time; Specifically, the waiting time for motor vehicles to pass through the road section. for: In the formula, The average number of vehicles waiting for pedestrians; The average time a motor vehicle waits for a pedestrian to cross the crosswalk; all are obtained from step one. Among them, the average number of vehicles waiting for pedestrians for: In the formula, τ p λ is the minimum safe clearance distance for vehicles crossing pedestrians on a road segment. p1 and λ p2 Let λ be the average arrival rate of pedestrians in both directions. p1 =Q p1 / 3600、λ p2 =Q p2 / 3600 is calculated; Y is the vehicle yield rate; k is the time interval between vehicles and pedestrians before the vehicle crosses the pedestrian crossing, k = 1, 2, 3, ..., n, k∈N * N * It is the set of all positive integers; i is the number of pedestrian waiting times before a vehicle crosses a pedestrian, which is less than the minimum safe clearance distance τ between the vehicle and the pedestrian. p The pedestrian time interval, i = 1, 2, 3, ..., k, i ∈ N * N * It is the set of all positive integers; To select i distances τ smaller than the minimum safe clearance distance between vehicles and pedestrians from among the pedestrian waiting time distances of k vehicles before they cross the road, regardless of order. p The number of all possible combinations of pedestrian time distances is given by Calculated; Among them, the average time for a motor vehicle to wait for a pedestrian to cross the crosswalk. for: In the formula, τ p λ is the minimum safe clearance distance for vehicles crossing pedestrians on a road segment. p1 and λ p2 Let λ be the average arrival rate of pedestrians in both directions. p1 =Q p1 / 3600、λ p2 =Q p2 / 3600 is calculated; Y is the vehicle avoidance rate; t α When the pedestrian distance of the first pedestrian flow is less than the minimum safe clearance distance τ for motor vehicles crossing pedestrians. p The average waiting time for motor vehicles is determined by Calculation yielded; t β When the pedestrian spacing of the first pedestrian flow is greater than the minimum safe clearance distance τ for motor vehicles crossing pedestrians. p Furthermore, the pedestrian spacing of the other pedestrian flow is less than the minimum safe clearance distance τ for motor vehicles crossing pedestrians. p The average waiting time for motor vehicles is determined by Calculation yielded t γ When the pedestrian distance in both directions is greater than the minimum safe clearance distance τ for motor vehicles crossing pedestrians. p Furthermore, the average waiting time for motor vehicles when they choose to yield is determined by... Calculated; Specifically, allow sufficient waiting time for pedestrians to cross the street at crosswalks. for: In the formula, The average number of pedestrians waiting for motor vehicles. The average time a pedestrian waits for a vehicle to pass; Among them, the average number of pedestrians waiting for motor vehicles for: In the formula, τ v λ is the minimum safe clearance distance for pedestrians crossing the street and for vehicles crossing at a crosswalk; v The average arrival rate of motor vehicles is given by λ. v =Q v / 3600 is calculated; Y is the vehicle yield rate; k' is the pedestrian waiting time before crossing the vehicle, k'=1,2,3,...,n,k'∈N * N * It is the set of all positive integers; Among them, the average number of pedestrians waiting for motor vehicles for: In the formula, τ v λ is the minimum safe clearance distance for pedestrians crossing the street and for vehicles crossing at a crosswalk; v The average arrival rate of motor vehicles; Step 4: Propose a method for solving the secondary branch delays caused by the interaction between motor vehicle traffic and pedestrian crossings at crosswalks. The secondary branch delay solution refers to the acceleration and deceleration delays caused by motor vehicle traffic on a road segment. Parking delays caused by motor vehicle traffic Waiting delays caused by pedestrians crossing the street at crosswalks Acceleration and deceleration delays caused by motor vehicles passing through pedestrian crossings for: In the formula, v c The average speed of motor vehicles crossing the street; Parking delays caused by motor vehicle traffic Based on the vehicle waiting time calculated in step three Solve the problem; Delays caused by vehicles waiting at pedestrian crossings for: In the formula, λ v The average arrival rate of motor vehicles; v c The average speed of motor vehicles crossing the street; To accommodate the waiting time of motor vehicles on the road section In particular, the waiting delays caused by pedestrians crossing the street at crosswalks Based on the pedestrian waiting time calculated in step three Solve the problem; Waiting delays caused by pedestrians crossing crosswalks for: In the formula, To accommodate pedestrians' waiting time at crosswalks; Step 5: Propose a method for solving the main branch delay caused by the interaction between motor vehicle traffic and pedestrian crossings at crosswalks. The main branch delay solution refers to the average delay D caused by pedestrian interference affecting motor vehicle traffic on the road segment. v The average delay D caused by motor vehicle interference at pedestrian crossings p ; Specifically, the average delay D caused by pedestrian interference affecting motor vehicle traffic on road sections. v Based on the acceleration and deceleration delays caused by motor vehicle traffic on the road segment calculated in step four. and parking delays Solve the problem; Average delay D caused by pedestrian interference affecting motor vehicle traffic on a road segment v for: In the formula, Delays caused by acceleration and deceleration of motor vehicles passing through the road section; Delays caused by parking and waiting for motor vehicles on the road section; Specifically, the average delay D caused by vehicular interference at pedestrian crossings. p Based on the solution in step four, the waiting delay caused by pedestrians crossing the street at crosswalks is calculated. Solve the problem; Average delay D caused by vehicular interference at pedestrian crossings p for: In the formula, λ v The average arrival rate of motor vehicles; Waiting delays caused by pedestrians crossing the street at crosswalks; Step 6: Determine the total delay D between vehicular traffic and pedestrian crossings at crosswalks on unsignalized road sections; The total delay D between vehicular traffic and pedestrian crossings at unsignalized road sections is: D=D v +D p In the formula, D v D represents the average delay in motor vehicle traffic caused by pedestrian interference on a road segment. p The average delay caused by motor vehicle interference at pedestrian crossings is calculated in step five.

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