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Personal mobility vehicles (PMVs) are gaining popularity as an eco-friendly transport mode for short-distance trips in urban environments. These vehicles can provide numerous economic, environmental, and social benefits and are likely to become more common in urban spaces in the near future. Before permitting them in shared environments, the impacts of the PMVs on the other users of the shared space should be properly evaluated, particularly from a safety perspective.

This study focuses on pedestrians’ danger perception toward PMVs interacting with them in shared spaces. To estimate the perceived danger, a model was developed. The developed model is inspired by the social-force concept, and it estimates a safety index called subjective danger index (SDI). The model is then calibrated with data collected through controlled laboratory experiments.

The experiments revealed two important features of the …