Pedestrians’ road-crossing behavior towards eHMI-equipped autonomous vehicles driving in segregated and mixed traffic conditions

Song, Yanmin; Jiang, Qianni; Chen, Wenxiang; Zhuang, Xiangling; Ma, Guojie

doi:10.1016/j.aap.2023.107115

Cited by 14 publications

(5 citation statements)

References 41 publications

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“…There was no effect of eHMIs on pedestrian's decision to cross the road. This finding contrasts with literature suggesting the positive impact of eHMIs on pedestrian crossing decisions [9,12,24]. One possible reason is that in our study, compared to other studies, AVs operated at slower speeds in a shared space, resulting in participants encountering no critical or unexpected situations.…”

Section: Discussioncontrasting

confidence: 99%

“…Compared to other VR studies that employed one-to-one interaction [7,9,14], this study employed a unique VR system that incorporated multiple users and real-walking locomotion to study pedestrian-AV interaction. The results of user experience show that participants had a positive experience using this VR system, indicated by the relatively high score of realism, presence, and usability, as well as a low score of simulation sickness.…”

Section: Discussionmentioning

confidence: 99%

“…AVs can also give pedestrians direct advice to cross the road via text messages such as "WALK or "STOP" [22,24]. While some studies found this type of eHMI is helpful, other studies argue that it is more suitable for traffic situations involving a single pedestrian since it might lead to confusion when multiple road users are present [9]. Besides text messages, the awareness of pedestrians of AV's intention can be communicated via lighting conditions displayed on the vehicle as a combination of light color (e.g., red, green, blue) and lighting modes (e.g., static and dynamic) [18,[24][25][26].…”

Section: Introductionmentioning

confidence: 99%

“…In addition to investigating the impact of eHMIs on the efficient communication between pedestrians and AVs, several studies focused on implicit communication, specifically analyzing the state of vehicles. For instance, studies showed pedestrian crossing behavior can be influenced by a vehicle's kinematics information, such as vehicle speed [9] and time gap [5,13,14,30]. While some studies argue that implicit communication cues are more effective and efficient, a few studies showed that pedestrians rely on more vehicle kinematics to make crossing decisions [6,28,31].…”

Section: Introductionmentioning

confidence: 99%

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Does another pedestrian matter? A Virtual Reality study on the interaction between multiple pedestrians and autonomous vehicles in shared space

Feng,

Xu,

Farah

et al. 2023

Preprint

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Shared space has become a popular urban planning approach that reduces the segregation between pedestrians and vehicles, aiming to increase quality and accessibility of different road users. This study utilized both quantitative and qualitative data collected via a Virtual Reality (VR) experiment to investigate pedestrian road-crossing behavior in front of AV in a shared space. In the VR experiment, pedestrians attempt to cross the road in a shared space under different conditions, including the presence of another pedestrian, different external Human Machine Interface (eHMI) signs, different AV driving styles, and different road conditions. To achieve this, we employed an innovative VR setup that enabled two pedestrians to interact in real-time with physical movements within an immersive VR environment. By analyzing the collected data, we evaluate pedestrian road-crossing behavior using six key behavioral metrics (e.g., crossing initiation time, time before crossing, time to cross, gazing time, crossing speed, and crossing distance) and assess the user experience with the VR setup using questionnaire responses. Overall, we found that the presence of multiple pedestrians had significant impact on pedestrian movement dynamics during road crossing. Moreover, we found that the relative standing position had a significant impact on the distant pedestrians in terms of their time before crossing and vehicle-gazing behavior. While previous studies have predominantly focused on the interaction of an AV with a single pedestrian, this study takes an important step forward in terms of theory, methods, and relevance by considering the interaction between multiple pedestrians and AVs. The findings from the study establish a basis for further exploration of pedestrian-AV interaction in shared space.

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Section: Discussioncontrasting

confidence: 99%

Section: Discussionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Does another pedestrian matter? A Virtual Reality study on the interaction between multiple pedestrians and autonomous vehicles in shared space

Feng,

Xu,

Farah

et al. 2023

Preprint

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“…Hence, the effect of variables such as pedestrian group size [18] on interaction-related metrics was not investigated. Also, road user behavior was investigated for one driving lane and direction whereas previous research suggests pedestrians behave differently on two-way streets [49], [50]. The road infrastructure including the crossing locations between the two studies was not exactly the same hindering more specific comparisons.…”

Section: Discussionmentioning

confidence: 99%

Testing the validity of multi participant distributed simulation for understanding and modeling road user interaction

Kalantari,

Lin,

Mohammadi

et al. 2023

Preprint

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Understanding driver-pedestrian interactions at unsignalized locations has gained additional importance due to the advancements that have happened recently in vehicle automation. To investigate these interactions, we previously developed a novel experimental study paradigm and a set of computational models, including four game-theoretic models (i.e., two conventional and two behavioral game-theoretic models) and a logit model. The aim of this study is to validate both the lab study and the models with naturalistic data to understand to what extent the results that come out of the lab are comparable to real traffic data. In the experimental study, several pairs of one driver and one pedestrian interacted with each other under different kinematic conditions and at zebra crossings in a virtual environment. The naturalistic data collection was conducted at two marked crossings (normal versus zebra staggered crossing) using state-of-the-art sensors capturing road user type, trajectory, and speed over time. Overall, the results indicated there is a fine relative validity of the experimental study where road users showed similar patterns of non-verbal communication in both studies. Similar to the lab data, crossing type played a role in interaction outcomes and metrics such as pedestrian crossing speed and vehicle delay. Pedestrians crossed more often and walked faster at staggered zebra compared to normal zebra in real traffic. In both studies, vehicle delay was affected by kinematics and location. However, vehicle delay was longer in the lab compared to real traffic. Also, unlike the lab study, pedestrian approach speed was measured and found to be the predictor of their crossing speed and the delay of the drivers. Additionally, all the computational models performed close to each other and well as opposed to the lab study. The behavioral game-theoretic models performed slightly better than the others in terms of prediction accuracy; this replicated our previous findings about road user behavior complexity which is a pivotal point for the virtual testing of automated vehicles.

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Pedestrians’ Interaction with eHMI-equipped Autonomous Vehicles: A Bibliometric Analysis and Systematic Review

Man,

Huang,

et al. 2025

Accident Analysis & Prevention

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Pedestrians’ road-crossing behavior towards eHMI-equipped autonomous vehicles driving in segregated and mixed traffic conditions

Cited by 14 publications

References 41 publications

Does another pedestrian matter? A Virtual Reality study on the interaction between multiple pedestrians and autonomous vehicles in shared space

Does another pedestrian matter? A Virtual Reality study on the interaction between multiple pedestrians and autonomous vehicles in shared space

Testing the validity of multi participant distributed simulation for understanding and modeling road user interaction

Pedestrians’ Interaction with eHMI-equipped Autonomous Vehicles: A Bibliometric Analysis and Systematic Review

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