External human-machine interface (eHMI) is considered as a new explicit communication method for pedestrian-AV interactions, particularly in encounter scenarios. Pedestrians without prior negotiation experience with eHMI may misinterpret the driving intentions of the AV, leading to confusion and unpredictable behavior. To address this issue, this study suggests providing pre-instruction on eHMI to enhance comprehension. To compare pedestrians’ subjective feelings and walking behavior changes with and without the use of eHMI, as well as before and after receiving pre-instructions, a road crossing experiment using a within-subject design was conducted. In the experiment, the participants were challenged to recognize situations and experienced uncertainty when encountering AVs lacking eHMI, in contrast to manual driving vehicles. After the pre-instruction, participants could understand the driving intention of an AV with eHMI and predict its driving behavior more easily. Furthermore, participants’ subjective feelings and hesitation to make decisions improved to align with the same criteria as encountered with a manual driving vehicle. Additionally, this study found that the information guidance effect of using eHMI made participants’ walking speeds more consistent over multiple trials, as they gain a comprehensive understanding of eHMI principles through the pre-instruction.
Pre-Instruction for Pedestrians Interacting Autonomous Vehicles With eHMI: Effects on Their Psychology and Walking Behavior
IEEE Transactions on Intelligent Transportation Systems ; 26 , 8 ; 11313-11324
2025-08-01
3455888 byte
Article (Journal)
Electronic Resource
English
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