  This paper proposes a novel max-pressure (MP) algorithm that incorporates
pedestrian traffic into the MP control architecture. Pedestrians are modeled as
being included in one of two groups: those walking on sidewalks and those
queued at intersections waiting to cross. Traffic dynamics models for both
groups are developed. Under the proposed control policy, the signal timings are
determined based on the queue length of both vehicles and pedestrians waiting
to cross the intersection. The proposed algorithm maintains the decentralized
control structure, and the paper proves that it also exhibits the maximum
stability property for both vehicles and pedestrians. Microscopic traffic
simulation results demonstrate that the proposed model can improve the overall
operational efficiency -- i.e., reduce person travel delays -- under various
vehicle demand levels compared to the original queue-based MP (Q-MP) algorithm
and a recently developed rule-based MP algorithm considering pedestrians. The
Q-MP ignores the yielding behavior of right-turn vehicles to conflicting
pedestrian movements, which leads to high delay for vehicles. On the other
hand, the delay incurred by pedestrians is high from the rule-based model since
it imposes large waiting time tolerance to guarantee the operational efficiency
of vehicles. The proposed algorithm outperforms both models since the states of
both vehicles and pedestrians are taken into consideration to determine signal
timings.
