The emergence of design in pedestrian dynamics: Locomotion,self-organization,walking paths and constructal law

Gait is inherent to human life and hence its importance is often overlooked. But walking remains the most basic form of transportation and almost all journeys begin and end with a walk, regardless of the modes used in-between. Gaining a good understanding of pedestrian?s dynamics is thus a crucial step in meeting the mobility and accessibility needs of people by providing safe and quick walking flows.This paper presents a critical and integrative review of research on pedestrian?s dynamics and associated topics. The review focuses on comprehensive theories and models, with an emphasis on the advances made possible by the application of the constructal law. Constructal law points out that the emergence and evolution of design in pedestrian dynamics is analogous to that of animate flow systems. Most importantly, it also highlights that the basic features of pedestrian dynamics and supportive walking infrastructures can be optimally envisaged with the help of a few fundamental physics laws.     

The principle that generates dissimilar patterns inside aggregates of organisms

Pattern formation and self-organization are phenomena that occur across the board, in animate and inanimate systems. In this paper, we rely on the constructal law to explain the generation of patterns (shapes, structures) in aggregates of organisms-pedestrian crowds and stony corals. In pedestrian crowds a variety of patterns are often observed, from ‘chaotic’ appearances to spontaneous organization in lanes of uniform walking direction. Stony corals and other organisms also present intraspecific variability in shape. We show that flow systems develop in time patterns which provide easier access to the nutrients and space, within a set of constraints imposed by each situation. Flow systems have the freedom to morph their shape in search for architectures that allows them to have greater access to the space that they inhabit. We identify the mechanisms allowing pedestrians to evolve in space and time. We also show that stony corals may develop branched or spherical shapes, depending on which shape performs best in response to the environmental conditions. The constructal law allows systems with complex internal flows to be described and understood for a unified view.     

The constructal law and the evolution of design in nature

The constructal law accounts for the universal phenomenon of generation and evolution of design (configuration, shape, structure, pattern, rhythm). This phenomenon is observed across the board, in animate, inanimate and human systems. The constructal law states the time direction of the evolutionary design phenomenon. It defines the concept of design evolution in physics. Along with the first and second law, the constructal law elevates thermodynamics to a science of systems with configuration. In this article we review the more recent work of our group, with emphasis on the advances made with the constructal law in the natural sciences. Highlighted are the oneness of animate and inanimate designs, the origin of finite-size organs on animals and vehicles, the flow of stresses as the generator of design in solid structures (skeletons, vegetation), the universality and rigidity of hierarchy in all flow systems, and the global design of human flows. Noteworthy is the tapestry of distributed energy systems, which balances nodes of production with networks of distribution on the landscape, and serves as key to energy sustainability and empowerment. At the global level, the constructal law accounts for the geography and design of human movement, wealth and communications.     

Equipartition,optimal allocation,and the constructal approach to predicting organization in nature

This is a review of recent engineering developments in thermodynamic optimization, which shed light on a universal design principle that accounts for macroscopic organization in nature. It is shown that the optimal performance of a finite-size system with purpose is always characterized by the equipartition of driving forces or the optimal allocation of material subject to overall constraints. Examples are drawn from natural inanimate systems (river basins, turbulent flow) and animate systems (living trees). It is shown that this principle also governs the architecture of tree networks. Tree networks can be obtained in purely deterministic fashion by minimizing the flow resistance (or the time of travel) between one point and a finite area or a finite volume (an infinite number of points). The shape of each volume element can be optimized for minimal flow resistance. The network is ‘constructed’ by assembling the shape-optimized building blocks, and proceeding in time from the smallest volume element toward larger constructs. In constructal theory small size and shapeless flow (diffusion) come first, and larger sizes and geometrical form (channels, streams) come later.     

The constructal unification of biological and geophysical design

Here we show that the emergence of scaling laws in inanimate (geophysical) flow systems is analogous to the emergence of allometric laws in animate (biological) flow systems, and that features of evolutionary “design” in nature can be predicted based on a principle of physics (the constructal law): “For a finite-size flow system to persist in time (to live) it must evolve in such a way that it provides easier and easier access to its currents”, meaning that the configuration and function of flow systems change over time in a predictable way that improves function, distributes imperfection, and creates geometries that best arrange high and low resistance areas or volumes. This theoretical unification of the phenomena of animate and inanimate flow design generation is illustrated with examples from biology (lung design, animal locomotion) and the physics of fluid flow (river basins, turbulent flow structure, self-lubrication). The place of this design-generation principle as a self-standing law in thermodynamics is discussed. Natural flow systems evolve by acquiring flow configuration in a definite direction in time: existing configurations are replaced by easier flowing configurations.     

Multi-grid simulation of pedestrian counter flow with topological interaction

We investigate the dynamics of pedestrian counter flow by using a multi-grid topological pedestrian counter flow model.In the model,each pedestrian occupies multi-rather than only one grid,and interacts with others in the form of topological interaction,which means that a moving pedestrian interacts with a fixed number of those nearest neighbours coming from the opposite direction to determine his/her own moving direction.Thus the discretization of space and time are much finer,the decision making process of the pedestrian is more reliable,which all together makes the moving behaviour and boundary conditions much more realistic.When compared with field observations,it can be found that the modified model is able to reproduce well fitted pedestrian collective behaviour such as dynamical variation of lane formation,clustering of pedestrians in the same direction,etc.The fundamental diagram produced by the model fits also well with field data in the free flow region.Further analyses indicate that with the increase of the size of pedestrian counter flow system,it becomes harder for the system to transit into a jamming state,while the increase of interaction range does not change the transition point from free flow to jamming flow in the multi-grid topological counter flow model.It is also found that the asymmetry of the injection rate of pedestrians on the boundaries has direct influence on the process of transition from free flow to jamming flow,i.e.,a symmetric injection makes it easier for the system to transit into jamming flow.     

Parabolic scaling of tree-shaped constructal network

We investigate the multi-scale structure of a tree network obtained by constructal theory and we propose a new geometrical framework to quantify deviations from scale invariance observed in many fields of physics and life sciences. We compare a constructally deduced fluid distribution network and one based on an assumed fractal algorithm. We show that: (i) the fractal network offers lower performance than the constructal object, and (ii) the constructal object exhibits a parabolic scaling explained in the context of the entropic skins geometry based on a scale diffusion equation in the scale space. Constructal optimization is equivalent to an equipartition of scale entropy production over scale space in the context of entropic skins theory. The association of constructal theory with entropic skins theory promises a deterministic theory to explain and build optimal arborescent structures.     

Analysis of dynamic features in intersecting pedestrian flows

This paper focuses on the simulation analysis of stripe formation and dynamic features of intersecting pedestrian flows.The intersecting flows consist of two streams of pedestrians and each pedestrian stream has a desired walking direction.The model adopted in the simulations is the social force model, which can reproduce the self-organization phenomena successfully. Three scenarios of different cross angles are established. The simulations confirm the empirical observations that there is a stripe formation when two streams of pedestrians intersect and the direction of the stripes is perpendicular to the sum of the directional vectors of the two streams. It can be concluded from the numerical simulation results that smaller cross angle results in higher mean speed and lower level of speed fluctuation. Moreover, the detailed pictures of pedestrians' moving behavior at intersections are given as well.     

Statistical approach of the irreversible entropy variation

The constructal theory is based on the thought that flow architecture is a consequence of a principle of maximization of flow access, in time, and in flow configuration that is free to be realised. The principle of maxima for the variation of the entropy due to irreversibility represents a general principle of investigation for the stability of open systems, by which it is possible to predict some macroscopic shapes, originated by the spatial organisation, in Nature, both in living and in non-living objects. Its statistical meaning has recently been introduced. Here a statistical and dynamical interpretation for the entropy due to irreversibility is proposed as a foundation of the constructal theory.     

基于改进格子气模型的对向行人流分层现象的随机性研究

在考虑行人视野范围的随机偏走格子气模型基础上, 引入行人对前方开阔区域的移动偏好特性, 提出改进的格子气模型, 对通道内对向行人流进行仿真研究. 模型再现了对向行人流在不同密度下出现的3种演化过程, 发现了行人密度与对向行人流分层现象的形成具有随机性, 以及统计了概率的变化趋势, 同时分析了分层现象形成概率与系统几何尺寸参数、移动强度参数、右行人流比例参数和视野范围参数等的关系. 分析结果表明, 改进的模型能够再现实际低密度下对向行人流不会出现分层现象的特性. 根据分层形成的概率, 可将对向行人流的密度分为5个区间, 不同区间的行人流演化过程各有差异. 模型和分析结果对理解对向行人流的动态演化过程, 提高通道内对向行人流的走行效率有一定帮助.     

Simulation of pedestrian flow based on cellular automata: A case of pedestrian crossing street at section in China

One of the purposes of pedestrian studies is to evaluate the effects of a proposed program on the pedestrian facilities before its implementation. In order to evaluate the level of service (LOS) of a pedestrian facility, a microscopic model is built to simulate the process of pedestrian crossing street. Most of the existing models focus on the occupant evacuation flow in buildings; however, they are not appropriate for pedestrians in the traffic. According to the characteristics of pedestrian crossing street at signalized crosswalks, we build a model based on cellular automata. Both of the system size and cell size are coordinate with the reality. Depending on the contrast of three parameters of pedestrian flow between simulation data and the reality data, we found that this model is analogous to the real process of pedestrian crossing street at signalized sections. Finally, simulation and its results can provide guidance for evaluating the effects of pedestrian facilities before their implementation.     

准滑模控制应用于行人通道的交通瓶颈

单向行人交通在瓶颈处极易发生堵塞,设置障碍会阻碍行人通行,却能保证瓶颈处通畅.本文将准滑模控制引入LWR模型中,理论推导控制变量.在三车道宏观交通流模型基础上,模拟瓶颈处的障碍对行人流的影响,解释设置障碍的作用.研究表明准滑模控制变量的设置与阈值有关,当阈值对应基本图的流量最大点时,行人流量能保持最大值,达到提高单向行人交通瓶颈处的行人流通过效率. 关键词： 交通瓶颈 准滑模控制 LWR模型     

步行通道内行人流拉链现象的生成机理与仿真研究

以步行通道内的单向行人流为研究对象,分析研究行人拉链现象的生成机理,并建立基于Voronoi图的速度修正模型对其仿真研究.首先,从行人追求视野最佳和步行舒适的角度分析拉链现象的生成机理,以行人的视野关注和视野遮挡描述影响行人移动过程中产生拉链偏移的因素;以行人局部密度描述行人的步行舒适度;引入拉链敏感系数描述行人客观偏移的意愿程度;提出单个行人侧向偏移的机制,获得行人最佳的偏移位置.然后,构建基于Voronoi图的行人速度修正仿真模型,考虑行人是否有偏移倾向的主观意愿,并嵌入偏移规则,模拟再现行人的拉链现象.仿真发现:行人的拉链层数与通道宽度成正比,该模型速度密度关系图与实证数据吻合较好;与不考虑拉链效应相比,倾向主动进行侧向偏移的行人占比越大,越有助于提高通道内行人的移动速度、舒适度和空间利用率.     

构形树状小通道内的流动沸腾换热特性

本文建立了构形树状小通道内流动沸腾换热模型,数值研究了树状通道网络内的流动沸腾换热特性,并与具有相同换热面积、入口直径的蛇形通道就泵功消耗、流动沸腾压降、通道温度变化和热有效性等指标进行了性能对比分析。研究表明,与蛇形通道相比,构形通道具有流动沸腾压降、泵功消耗小的优势,且其温度均匀性、热有效性也均优于蛇形通道。当热流密度为20 W/cm~2时,构形树状通道内流体的泵功消耗约为蛇形通道的一半,其热有效性为蛇形通道的1.9倍。     

Effect of following strength on pedestrian counter flow

This paper proposes a modified lattice gas model to simulate pedestrian counter flow by considering the effect of following strength which can lead to appropriate responses to some complicated situations.Periodic and open boundary conditions are adopted respectively.The simulation results show that the presented model can reproduce some essential features of pedestrian counter flows,e.g.,the lane formation and segregation effect.The fundamental diagrams show that the complete jamming density is independent of the system size only when the width W and the length L are larger than some critical values respectively,and the larger asymmetrical conditions can better avoid the occurrence of deadlock phenomena.For the mixed pedestrian flow,it can be found that the jamming cluster is mainly caused by those walkers breaking the traffic rules,and the underlying mechanism is analysed.Furthermore,the comparison of simulation results and the experimental data is performed,it is shown that this modified model is reasonable and more realistic to simulate and analyse pedestrian counter flow.     

基于元胞自动机的行人疏散流仿真研究

基于元胞自动机对行人疏散流进行仿真研究.模型利用两个动态参数反映行人移动区域内的疏散情况,从而决定行人的行为选择.模型中行人可以根据自身周围的情况选择移动、等待行为.本文仿真研究了行人在正常疏散环境下,系统规模、疏散人数、安全出口宽度、多个安全出口布局对行人疏散时间的影响.研究结果表明,行人疏散时间随行人数量呈线性增加;随安全出口宽度呈负指数性减少;同时,多个安全出口布局的不平衡也会对行人的疏散过程和疏散时间产生一定的影响. 关键词： 元胞自动机 行人疏散流 动态参数 疏散时间     

A least-effort principle based model for heterogeneous pedestrian flow considering overtaking behavior

In the context of global aging, how to design traffic facilities for a population with a different age composition is of high importance. For this purpose, we propose a model based on the least effort principle to simulate heterogeneous pedestrian flow. In the model, the pedestrian is represented by a three-disc shaped agent. We add a new parameter to realize pedestrians' preference to avoid changing their direction of movement too quickly. The model is validated with numerous experimental data on unidirectional pedestrian flow. In addition, we investigate the influence of corridor width and velocity distribution of crowds on unidirectional heterogeneous pedestrian flow. The simulation results reflect that widening corridors could increase the specific flow for the crowd composed of two kinds of pedestrians with significantly different free velocities. Moreover, compared with a unified crowd, the crowd composed of pedestrians with great mobility differences requires a wider corridor to attain the same traffic efficiency. This study could be beneficial in providing a better understanding of heterogeneous pedestrian flow, and quantified outcomes could be applied in traffic facility design.     

基于元胞自动机和复杂网络理论的双向行人流建模

通过设计行人行走倾向性调查实验,分析了行人的行走倾向性特征. 引入前进系数、右倾系数、超越系数以及影响修正系数等对元胞自动机(CA) 基本模型中的转移概率进行修正,建立了考虑行人行走倾向性特征的CA行人仿真模型. 针对该模型中的行人群体,依据k-近邻作用原理,构建行人复杂网络. 通过计算机仿真,揭示了行人流密度、速度和流量的关系以及仿真过程中出现的自组织现象.进一步分析仿真输出的行人流基本参数和行人复杂网络主要特征参数,发现对同一行人流,其平均速度和网络平均路径长度均随着行人流状态的改变而变化.最后, 通过平均路径长度和平均速度的数据拟合,得出两者之间存在着线性负相关关系的结论, 即具有较小网络平均路径长度的行人流具有较高的平均速度.     

Pedestrian intention prediction based on dynamic fuzzy automata for vehicle driving at nighttime

In this paper, we propose a novel algorithm that can predict a pedestrian’s intention using images captured by a far-infrared thermal camera mounted on a moving car at nighttime. To predict a pedestrian’s intention in consecutive sequences, we use the dynamic fuzzy automata (DFA) method, which not only provides a systemic approach for handling uncertainty but also is able to handle continuous spaces. As the spatio-temporal features, the distance between the curbs and the pedestrian and the pedestrian’s velocity and head orientation are used. In this study, we define four intention states of the pedestrian: Standing-Sidewalk (S-SW), Walking-Sidewalk (W-SW), Walking-Crossing (W-Cro), and Running-Crossing (R-Cro). In every frame, the proposed system determines the final intention of the pedestrian as ‘Stop’ if the pedestrian’s intention state is S-SW or W-SW. In contrast, the proposed system determines the final intention of a pedestrian as ‘Cross’ if the pedestrian’s intention state is W-Cro or R-Cro. A performance comparison with other related methods shows that the performance of the proposed algorithm is better than that of other related methods. The proposed algorithm was successfully applied to our dataset, which includes complex environments with many pedestrians.     

双出口房间人群疏散的实验研究和数学建模

本文设计了一个双出口房间内人群疏散的实验方案,通过不同条件下疏散过程的实况录像及视频检测,得到不同人数疏散时间的许多定量结果.提出了双出口房间吸引区间的概念,证明了较小出口吸引区间的边界总是一段圆弧,可以解释行人流出口处的圆形成拱现象.通过类比地铁候车厅内人群疏散过程,建立了双出口房间内疏散时间的二次函数模型,成功拟合不同条件下的实测数据.疏散人数较少时,疏散时间随着人数增加而线性增长;人数较多,在出口附近出现待行区域时,疏散时间则呈二次函数增长.与一些已知疏散时间数学模型相比,本文模型对出口宽度变化的反应更敏感.