Improvement of pedestrian flow by slow rhythm

Experimental study on the synchronization mechanism and trigger characteristic density of vertical evacuation in crowds

Due to simultaneous horizontal and vertical displacement during vertical evacuation, the consequences of stampede congestion accidents can be more severe. Generally, pedestrians trigger a synchronization mechanism at some point during the vertical evacuation process. This synchronization behavior helps prevent stampede congestion and improves evacuation efficiency. This paper designs a well-controlled single-file vertical evacuation experiment. After the experiment, the video footage is imported into the TRACKER system to extract the coordinates of pedestrian step movements, after which the experimental data undergo calculations and visual analysis. The research findings indicate the following: Firstly, when the crowd coordinates trigger the synchronization mechanism, this behavior remains stable as long as pedestrian speed and direction are unchanged; Secondly, the variation in footstep speed over time is not directly related to the footstep synchronization rate of the crowd; Lastly, this study calculated the characteristic density value most likely to trigger the synchronization mechanism during vertical evacuation. This research deepens our understanding of crowd dynamics, reveals the characteristics of pedestrian movement during vertical evacuation, and proposes evacuation guidance strategies based on these features.

Robust spatial self-organization in crowds of asynchronous pedestrians

Human crowds display various self-organized collective behaviours, such as the spontaneous formation of unidirectional lanes in bidirectional pedestrian flows. In addition, parts of pedestrians' footsteps are known to be spontaneously synchronized in one-dimensional, single-file crowds. However, footstep synchronization in crowds with more freedom of movement remains unclear. We conducted experiments on bidirectional pedestrian flows (24 pedestrians in each group) and examined the relationship between collective footsteps and self-organized lane formation. Unlike in previous studies, pedestrians did not spontaneously synchronize their footsteps unless following external auditory cues. Moreover, footstep synchronization generated by external cues disturbed the flexibility of pedestrians' lateral movements and increased the structural instability of spatial organization. These results imply that, without external cues, pedestrians marching out of step with each other can efficiently self-organize into robust structures. Understanding how asynchronous individuals contribute to ordered collective behaviour might bring innovative perspectives to research fields concerned with self-organizing systems.

Spontaneous gait phase synchronization of human to a wheeled mobile robot with replicating gait-induced upper body oscillating motion

Synchronization between humans is often observed in our daily lives, for example in breathing, in hand clapping in crowds, and in walking. It has been reported that pedestrian gait synchronization maximizes walking flow efficiency. As increasingly more mobile robots are being developed for practical use, it is important to consider how robots may impact pedestrian flows. While there is research on synchronization phenomena between humans and robots, gait synchronization between humans and robots has yet to be studied, particularly synchronization occurring with wheeled humanoid robots while moving. In this paper, we investigated the gait phase synchronization between humans and a wheeled mobile humanoid robot, which moved its upper body in three distinct types of motion patterns: (1) no-motion, (2) arm-swinging (as is common for typical mobile humanoids), and (3) arms-swinging in addition to periodic vertical-oscillation similar to the human upper body movement while walking. Rayleigh test was performed on the distribution of the obtained gait phase differences under each condition and a significant distributional bias was confirmed when participants were walking with the robot that performed both arm-swinging and vertical-oscillation of the upper body. These results suggest that humans can spontaneously synchronize their gaits with wheeled robots that utilize upper body oscillating. These findings can be important for the design of robot-integrated urban transportation systems, such as train stations and airports, where both humans and robots are mobile and a highly efficient flow is required.

Analysis of emergent patterns in crossing flows of pedestrians reveals an invariant of ‘stripe’ formation in human data

When two streams of pedestrians cross at an angle, striped patterns spontaneously emerge as a result of local pedestrian interactions. This clear case of self-organized pattern formation remains to be elucidated. In counterflows, with a crossing angle of 180°, alternating lanes of traffic are commonly observed moving in opposite directions, whereas in crossing flows at an angle of 90°, diagonal stripes have been reported. Naka (1977) hypothesized that stripe orientation is perpendicular to the bisector of the crossing angle. However, studies of crossing flows at acute and obtuse angles remain underdeveloped. We tested the bisector hypothesis in experiments on small groups (18-19 participants each) crossing at seven angles (30° intervals), and analyzed the geometric properties of stripes. We present two novel computational methods for analyzing striped patterns in pedestrian data: (i) an edge-cutting algorithm, which detects the dynamic formation of stripes and allows us to measure local properties of individual stripes; and (ii) a pattern-matching technique, based on the Gabor function, which allows us to estimate global properties (orientation and wavelength) of the striped pattern at a time T. We find an invariant property: stripes in the two groups are parallel and perpendicular to the bisector at all crossing angles. In contrast, other properties depend on the crossing angle: stripe spacing (wavelength), stripe size (number of pedestrians per stripe), and crossing time all decrease as the crossing angle increases from 30° to 180°, whereas the number of stripes increases with crossing angle. We also observe that the width of individual stripes is dynamically squeezed as the two groups cross each other. The findings thus support the bisector hypothesis at a wide range of crossing angles, although the theoretical reasons for this invariant remain unclear. The present results provide empirical constraints on theoretical studies and computational models of crossing flows.

You may have noticed that pedestrians in a crosswalk often form multiple lanes of traffic, moving in opposite directions (180°). Such spontaneous pattern formation is an example of self-organized collective behavior, a topic of intense interdisciplinary interest. When two groups of pedestrians cross at an intersection (90°), similar diagonal stripes appear. Naka (1977) conjectured that the stripes are perpendicular to the mean walking direction of the two groups. This facilitates the forward motion of each group and reduces collisions. We present the first empirical test of the hypothesis by studying two groups of participants crossing at seven different angles (30° intervals). To analyze the striped patterns, we introduce two computational methods, a local Edge-cutting algorithm and a global Pattern-matching technique. We find that stripes are indeed perpendicular to the mean walking direction at all crossing angles, consistent with the hypothesis. But other properties depend on the crossing angle: the number of stripes increases with crossing angle, whereas the spacing of stripes, the number of pedestrians per stripe, and the crossing time all decrease. Moreover, the width of individual stripes is “squeezed” in the middle of the crossing. Future models of crowd dynamics will need to capture these properties.

An attempt to distinguish physical and socio-psychological influences on pedestrian bottleneck

It has been realized that the distinction between social-psychological effects and physical effects in pedestrian crowds is complex, and so the relevance of social psychology for the properties of pedestrian streams is still discussed controversially. Although physics-based models appear to capture many properties rather accurately, it was argued that simple systems of self-driven particles could not explain certain emergent phenomena. In particular, results from a recent empirical study of pedestrian flow at bottlenecks have been interpreted as indicating the relevance of social psychology even in relatively simple scenarios of crowd dynamics. The study showed a surprising dependence of the density near the bottleneck on the width of the corridor leading to it. The density increased with increasing corridor width, although a wider corridor provides more space for pedestrians. It has been argued that this observation is a consequence of social norms, which trigger the effect by a preference for queuing in such situations. However, convincing evidence for this hypothesis is still missing. Here, we reconsider this scenario from a physics perspective using computer simulations of a simple microscopic velocity-based model.

The One-Man-Crowd: Single User Generation of Crowd Motions Using Virtual Reality

Crowd motion data is fundamental for understanding and simulating realistic crowd behaviours. Such data is usually collected through controlled experiments to ensure that both desired individual interactions and collective behaviours can be observed. It is however scarce, due to ethical concerns and logistical difficulties involved in its gathering, and only covers a few typical crowd scenarios. In this work, we propose and evaluate a novel Virtual Reality based approach lifting the limitations of real-world experiments for the acquisition of crowd motion data. Our approach immerses a single user in virtual scenarios where he/she successively acts each crowd member. By recording the past trajectories and body movements of the user, and displaying them on virtual characters, the user progressively builds the overall crowd behaviour by him/herself. We validate the feasibility of our approach by replicating three real experiments, and compare both the resulting emergent phenomena and the individual interactions to existing real datasets. Our results suggest that realistic collective behaviours can naturally emerge from virtual crowd data generated using our approach, even though the variety in behaviours is lower than in real situations. These results provide valuable insights to the building of virtual crowd experiences, and reveal key directions for further improvements.

Spontaneous synchronization of motion in pedestrian crowds of different densities

Interacting pedestrians in a crowd spontaneously adjust their footsteps and align their respective stepping phases. This self-organization phenomenon is known as synchronization. However, it is unclear why and how synchronization forms spontaneously under different density conditions, or what functional benefit synchronization offers for the collective motion of humans. Here, we conducted a single-file crowd motion experiment that directly tracked the alternating movement of both legs of interacting pedestrians. We show that synchronization is most likely to be triggered at the same density at which the flow rate of pedestrians reaches a maximum value. We demonstrate that synchronization is established in response to an insufficient safety distance between pedestrians, and that it enables pedestrians to realize efficient collective stepping motion without the occurrence of inter-person collisions. These findings provide insights into the collective motion behaviour of humans and may have implications for understanding pedestrian synchronization-induced wobbling, for example, of bridges.

Traffic flow in a crowd of pedestrians walking at different speeds

This study investigates motion in a crowd of pedestrians walking at different speeds. Three pedestrian groups are considered (slow walkers, normal walkers, and fast walkers), and we design the experimental condition by mixing the normal walkers with either the slow or the fast walkers to create flows with different speed compositions. All the walkers in this experiment were instructed to walk along a circular course unidirectionally. Fundamental diagrams and multiple regression analysis show that the speed at which a particular pedestrian walks is determined by both the local density and the speed at which the surrounding pedestrians are walking. We also find that the spontaneous lane formation, that occurs in bidirectional flow, does not occur in flow in which the speed is heterogeneous, thereby resulting in a spatial density distribution with large variance. This corresponds to pedestrian clustering, which reduces both the mean speed and the flow rate.

Steady Beat Sound Facilitates both Coordinated Group Walking and Inter-Subject Neural Synchrony

Group walking is a collective social interaction task as pedestrians are required to determine their own pace of walking on the basis of surrounding others’ states. The steady beat sound is known to be a controllable factor that contributes to relative success/failure of coordinated group walking since the beat improves pedestrian flow in congested situation. According to some reports, inter-personal interaction synchronizes inter-personal brain activity in the prefrontal region, which supports social cognitive processes required for successful inter-individual coordination, such as predicting each other’s state; success/failure of a coordinated task is associated with increase/decrease in inter-subject neural synchrony (INS). Combining these previous findings, we hypothesized that INS during group walking in congested situations would also differ depending on the existence of the steady beat, corresponding to the modulated coordination-related cognitive processes. Subjects’ frontopolar activities were measured using ultra-small near infrared spectroscopy, which can simultaneously measure the brain activities of multiple subjects without constraints on their motions. To exclude the possibility that increased INS may be spuriously induced by the shared stimuli (i.e., steady beat) or by the resultant behavioral synchronization, as control we used stepping on a same spot, which is similar in movement to walking but does not require the subjects to consider others’ states, either with or without the steady beat. In a two by two repeated measures factorial experimental design, the subjects were instructed to walk or keep stepping on a same spot with or without a steady beat sound of 70 beats per minute. As previously reported, the walking flow during group walking with the beat significantly increased compared with that without the beat. Synchronization of stepping between the subjects was also significantly increased by the steady beat sound. For INS, we observed a significant interaction effect between walking/stepping and sound/no-sound, supporting our hypothesis. INS while walking with the beat was higher than that without the beat, whereas the beat induced no significant differences in INS during stepping. Furthermore, the effect of the beat on INS while walking was spatially extended beyond the adjacent pedestrians, reflecting the diffuse nature of the collective coordination in group walking. The increase of INS for walking suggested that the steady beat sound led to more harmonized inter-personal cognitive processes, which resulted in the more coordinated group motion.

Collective motion of oscillatory walkers

We study a system of interacting self-propelled particles whose walking velocity depends on the stage of the locomotion cycle. The model introduces a phase equation in the optimal velocity model for vehicular traffic. We find that the system exhibits novel types of flow: synchronized free flow, phase-anchoring free flow, orderly jam flow, and disordered jam flow. The first two flows are characterized by synchronization of the phase, while the others do not have the global synchronization. Among these, the disordered jam flow is very complex, although the underlying model is simple. This phenomenon implies that the crowd behavior of moving particles can be destabilized by coupling their velocity to the phase of their motion. We also focus on "phase-anchoring" phenomena. They strongly affect particle flow in the system, especially when the density of particles is high.

Properties of pedestrians walking in line. II. Stepping behavior

In human crowds, interactions among individuals give rise to a variety of self-organized collective motions that help the group to effectively solve the problem of coordination. However, it is still not known exactly how humans adjust their behavior locally, nor what are the direct consequences on the emergent organization. One of the underlying mechanisms of adjusting individual motions is the stepping dynamics. In this paper, we present first quantitative analysis on the stepping behavior in a one-dimensional pedestrian flow studied under controlled laboratory conditions. We find that the step length is proportional to the velocity of the pedestrian, and is directly related to the space available in front of him, while the variations of the step duration are much smaller. This is in contrast with locomotion studies performed on isolated pedestrians and shows that the local density has a direct influence on the stepping characteristics. Furthermore, we study the phenomena of synchronization-walking in lock step-and show its dependence on flow densities. We show that the synchronization of steps is particularly important at high densities, which has direct impact on the studies of optimizing pedestrians' flow in congested situations. However, small synchronization and antisynchronization effects are found also at very low densities, for which no steric constraints exist between successive pedestrians, showing the natural tendency to synchronize according to perceived visual signals.