To judge whether drivers of manned vehicles sharing the road with driverless vehicles think they are in a vulnerable state and find out what makes drivers feel they will be in a state we called "driver's psychological vulnerability judgment", this paper conducted a questionnaire to collect information about the attitude, perceived usefulness, trust, perceived risk, and demographic information of drivers in a hypothetical situation involving driving on the same road as driverless vehicles. Our goal was to identify areas where the drivers felt that they would be in a "vulnerable psychological state", i.e., that they would be more vulnerable to making poor psychological judgments. A total of 945 valid questionnaires were collected through Credamo questionnaire survey platform. The survey results indicated that 43.7 % of the respondents believed that they would be in a vulnerable state in mixed traffic competition, 30.2 % of the respondents did not know whether they would be in a vulnerable state. Further, women, people with a higher education, people with a more aggressive driving personality, older people, and those with more driving experience were more inclined to think that they would not be in a vulnerable state. Attitude, trust, and perceived usefulness all had positive impacts on driver's psychological vulnerability judgment, and perceived risk had a negative impact. Therefore, the early promotion of driverless technology should give priority to people with a higher education, more driving experience, older age, and more aggressive driving personality, and focus on attitudes towards this technology, and perceived usefulness, trust, perceived risk.