An exploration of future public space forms for pedestrians based on envelopes

Nowadays, robots and new mobilities are gradually introduced into public space to satisfy traveling and service needs of people. However, the lack of regulations of machines has resulted in proliferation of new traffic accidents, so that new rules of human-machine mixed traffic are urgently needed. This research proposed possible forms of future public space named envelope spaces based on envelope concept for explaining the composition of public spaces from physical and mental perspectives proposed in our previous studies. We used a simulation model to illustrate applications of different envelope spaces. The results showed their effects in different social goals which evaluated by indicators related to traffic efficiency and comfort of pedestrians. Based on the results, the suitable forms for future mixed traffic and significant issues were proposed. In the future, the envelope spaces are expected to be references for rulemaking of human-machine mixed spaces in different situations.