# Enhancing Street-Crossing Safety for Visually Impaired Pedestrians with Haptic and Visual Feedback
## 5 Discussion
### Effects of Feedback Urgency on Decision Time and Crossing Outcomes
\begin{table}
\begin{tabular}{c c c c c c c} \hline \hline \multirow{2}{*}{**Feedback Modality**} & \multirow{2}{*}{**State**} & \multirow{2}{*}{**Size (Direction)**} & \multirow{2}{*}{**Response**} & \multicolumn{4}{c}{**Frequency**} \\ \cline{5-8}  & & & **0.5 Hz** & **1.0 Hz** & **2.0 Hz** & **4.0 Hz** \\ \hline \multirow{8}{*}{Dynamic} & \multirow{8}{*}{Medium (Right)} & Urgency Score & 2.50 & 3.00 & 3.69 & 4.00 \\  & & Cross Rate & 31.25\% & 31.25\% & 6.25\% & 18.75\% \\  & & Decision Time & 3.54 s & 2.77 s & 2.84 s & 2.66 s \\ \cline{2-8}  & \multirow{8}{*}{Medium (Left)} & Urgency Score & 2.50 & 3.06 & 3.63 & 4.00 \\  & & Cross Rate & 31.25\% & 25\% & 6.25\% & 25\% \\  & & Decision Time & 3.42 s & 3.11 s & 2.79 s & 2.94 s \\ \cline{2-8}  & \multirow{8}{*}{Small (Right)} & Urgency Score & 1.44 & 2.19 & 2.88 & 3.69 \\  & & Cross Rate & 87.5\% & 68.75\% & 43.75\% & 31.25\% \\  & & Decision Time & 4.18 s & 3.47 s & 3.02 s & 2.69 s \\ \cline{2-8}  & \multirow{8}{*}{Small (Left)} & Urgency Score & 1.44 & 2.19 & 2.88 & 3.69 \\  & & Cross Rate & 87.5\% & 68.75\% & 43.75\% & 25\% \\  & & Decision Time & 4.15 s & 3.83 s & 2.67 s & 2.45 s \\ \cline{2-8}  & \multirow{8}{*}{Medium (Right)} & Urgency Score & 2.19 & 2.63 & 3.38 & 3.81 \\  & & Cross Rate & 31.25\% & 31.25\% & 6.25\% & 18.75\% \\  & & Decision Time & 3.06 s & 2.71 s & 2.95 s & 2.39 s \\ \cline{2-8}  & \multirow{8}{*}{Medium (Left)} & Urgency Score & 2.25 & 2.63 & 3.31 & 3.75 \\  & & Cross Rate & 31.25\% & 31.25\% & 6.25\% & 12.5\% \\  & & Decision Time & 3.01 s & 3.21 s & 2.79 s & 2.51 s \\ \cline{2-8}  & \multirow{8}{*}{Medium (Right)} & Urgency Score & 1.19 & 1.75 & 2.75 & 3.69 \\  & & Cross Rate & 93.75\% & 68.75\% & 43.75\% & 25\% \\  & & Decision Time & 4.09 s & 3.47 s & 3.00 s & 2.72 s \\ \cline{2-8}  & \multirow{8}{*}{Small (Left)} & Urgency Score & 1.19 & 1.81 & 2.75 & 3.63 \\  & & Cross Rate & 87.5\% & 87.5\% & 43.75\% & 31.25\% \\  & & Decision Time & 3.91 s & 3.23 s & 2.88 s & 2.69 s \\ \hline \multirow{8}{*}{Dynamic} & \multirow{8}{*}{Medium (Right)} & Urgency Score & 2.25 & 2.75 & 3.38 & 4.00 \\  & & Cross Rate & 87.5\% & 56.25\% & 0\% & 0\% \\  & & Decision Time & 5.08 s & 4.75 s & 4.35 s & 3.57 s \\ \cline{2-8}  & \multirow{8}{*}{Medium (Left)} & Urgency Score & 2.25 & 2.75 & 3.31 & 4.00 \\  & & Cross Rate & 81.25\% & 56.25\% & 12.5\% & 0\% \\  & & Decision Time & 5.05 s & 4.72 s & 4.19 s & 3.85 s \\ \cline{2-8}  & \multirow{8}{*}{Small (Right)} & Urgency Score & 1.31 & 2.00 & 2.94 & 3.75 \\  & & Cross Rate & 93.75\% & 62.5\% & 12.5\% & 6.25\% \\  & & Decision Time & 5.55 s & 4.70 s & 4.13 s & 3.85 s \\ \cline{2-8}  & \multirow{8}{*}{Small (Left)} & Urgency Score & 1.38 & 2.06 & 2.94 & 3.75 \\  & & Cross Rate & 87.5\% & 62.5\% & 18.75\% & 0\% \\  & & Decision Time & 5.24 s & 5.03 s & 4.10 s & 3.63 s \\ \hline \multirow{8}{*}{Visual Feedback} & \multirow{8}{*}{Medium (Right)} & Urgency Score & 2.06 & 2.88 & 3.44 & 3.94 \\  & & Cross Rate & 81.25\% & 75\% & 12.5\% & 12.5\% \\  & & Decision Time & 3.70 s & 3.52 s & 2.66 s & 2.52 s \\ \cline{2-8}  & \multirow{8}{*}{Medium (Left)} & Urgency Score & 2.13 & 2.88 & 3.38 & 3.88 \\  & & Cross Rate & 81.25\% & 75\% & 6.25\% & 0\% \\  & & Decision Time & 4.03 s & 3.52 s & 2.84 s & 2.45 s \\ \cline{2-8}  & \multirow{8}{*}{Small (Right)} & Urgency Score & 1.13 & 1.88 & 2.81 & 3.38 \\  & & Cross Rate & 93.75\% & 87.5\% & 18.75\% & 6.25\% \\  & & Decision Time & 4.49 s & 3.50 s & 3.06 s & 2.66 s \\ \cline{2-8}  & \multirow{8}{*}{Small (Left)} & Urgency Score & 1.13 & 1.81 & 2.81 & 3.38 \\  & & Cross Rate & 93.75\% & 81.25\% & 12.5\% & 6.25\% \\  & & Decision Time & 4.08 s & 3.46 s & 3.15 s & 2.60 s \\ \hline \hline \end{tabular} Note: The urgency score represents users’ perceived urgency level; the cross rate is the percentage of crossing decisions; the decision time indicates the average decision time in seconds. Green-shaded cells denote high cross rates (>85%), suitable for encouraging crossing. Yellow-shaded cells denote low cross rates (<30%), effective for deterring crossing.  
\end{table}