【摘要】 传统的路径规划方法一般以最短距离或最短时间等成本最低为目标，然而，行人选择步行路径时，对路径的恐惧感受在很大程度上影响着步行的意愿和步行路径的选择。为了更贴近行人步行路径规划的实际需求，本文提出了考虑行人恐惧感的路径规划方法，重点研究了步行空间中影响行人主观恐惧感受的环境因素，构建了步行空间的恐惧感评价体系，并通过实验验证了本方法能为行人规划出更安心可靠的步行路径。更多还原

【Abstract】 Traditional path planning methods generally aim at the lowest cost, such as the shortest distance or the shortest time, etc. However, when pedestrians choose a walking path, the fear of the path affects the willingness to walk and the choice of walking path to a large extent. In order to get closer to the actual needs of pedestrians, this paper proposes a path planning method considering pedestrian fear, focuses on studying the environmental factors that affect pedestrians′ subjective fear feelings in walking space, constructs a fear evaluation system for walking space, and verifies through experiments that this method can plan more secure and reliable walking paths for pedestrians.更多还原