In order to allow transportation to co-exist with pedestrians without collisions, you need some kind of separation between the two. With subways, the protected lane is literally underground, but it does definitely have a protected lane. If you don't go under ground, you can go above ground, like several subways and metros do around the world.
If you don't do either of these, you have to make concessions on the ground level. My personal preference would be tall fences around the roadway, and pedestrian bridges that go over or under the roadway (but both have problems). Another would be to still have the fences, but automate some sliding barricades that would activate when traffic halted, which is somewhat like how train crossings work. We could also implement hybrid methods, like that at Shibuya crossing, for very congested intersections.
In order to allow transportation to co-exist with pedestrians without collisions, you need some kind of separation between the two. With subways, the protected lane is literally underground, but it does definitely have a protected lane. If you don't go under ground, you can go above ground, like several subways and metros do around the world.
If you don't do either of these, you have to make concessions on the ground level. My personal preference would be tall fences around the roadway, and pedestrian bridges that go over or under the roadway (but both have problems). Another would be to still have the fences, but automate some sliding barricades that would activate when traffic halted, which is somewhat like how train crossings work. We could also implement hybrid methods, like that at Shibuya crossing, for very congested intersections.