| Initialization |
| : denotes the theoretical passing time of pedestrians |
| : denotes the theoretical passing time of the vehicle |
| : denotes the number of pedestrians |
| : denotes the maximum number of the Monte-Carlo simulation |
| Set , , , , , , Nstag, , in which: |
| : The number of times of vehicle passes under zero-step mode |
| : The number of times of pedestrians passes under zero-step mode |
| : The number of times of vehicle passes under one-step mode |
| : The number of times of pedestrians passes under one-step mode |
| : The number of times of vehicle passes under two-step mode |
| : The number of times of pedestrians passes under two-step mode |
| stag: The number of times of stagnation of the pedestrians and vehicle |
| coll: The number of times of collision of the pedestrians and vehicle |
| Repeat the Monte-Carlo simulation times |
| for to |
| Determine the estimated passing time and probability of the dominant strategy for each pedestrian and vehicle |
| Generate random numbers , , and satisfying the normal distribution |
| Calculates and |
| Assess whether the pedestrians and driver can achieve common knowledge under zero-step mode |
| Generate random numbers: |
| ifany |
|
| else if all |
|
| else |
| Assess whether the pedestrians and driver can achieve common knowledge under one-step mode |
| Calculates the acceleration probability of pedestrians and vehicle and |
| Generate random numbers: |
| if any |
|
| else if all |
|
| else |
| Assess whether the pedestrians and driver can achieve common knowledge under two-step mode |
| Calculates the acceleration probability of pedestrians and vehicle and |
| Generate random numbers: |
| if any , |
|
| else if all , |
|
| else if all |
|
| else if any , , |
|
| end |
| end |
| end |
| end |
