# Pedestrian and Passenger Interaction with Autonomous Vehicles: Field Study in a Crosswalk Scenario

arXiv: https://arxiv.org/abs/2312.07606 · HTML: https://mlsanity.com/paper/2312.07606/

## Key facts

- Cited by 2 papers in the map (data through 14 Oct 2026).
- Builds on 12 of its 115 references that are in the map.
- First posted on arXiv 11 Dec 2023.

## Builds on (most cited first, 12 of 12)

- [Autonomous Vehicles that Interact with Pedestrians: A Survey of Theory and Practice](https://mlsanity.com/paper/1805.11773/) (2018)
- [Formal Scenario-Based Testing of Autonomous Vehicles: From Simulation to the Real World](https://mlsanity.com/paper/2003.07739/) (2020)
- [Joint Attention in Autonomous Driving (JAAD)](https://mlsanity.com/paper/1609.04741/) (2016)
- [Agreeing to Cross: How Drivers and Pedestrians Communicate](https://mlsanity.com/paper/1702.03555/) (2017)
- [Building Trust in Autonomous Vehicles: Role of Virtual Reality Driving Simulators in HMI Design](https://mlsanity.com/paper/2007.13371/) (2020)
- [Realistic pedestrian behaviour in the CARLA simulator using VR and mocap](https://mlsanity.com/paper/2309.04418/) (2023)
- [Insertion of real agents behaviors in CARLA autonomous driving simulator](https://mlsanity.com/paper/2206.00337/) (2022)
- [Digital twin in virtual reality for human-vehicle interactions in the context of autonomous driving](https://mlsanity.com/paper/2303.11463/) (2023)
- [Eye Contact Between Pedestrians and Drivers](https://mlsanity.com/paper/1904.04188/) (2019)
- [Human-vehicle interaction for autonomous vehicles in crosswalk scenarios: Field experiments with pedestrians and passengers](https://mlsanity.com/paper/2307.12708/) (2023)
- [Response of Vulnerable Road Users to Visual Information from Autonomous Vehicles in Shared Spaces](https://mlsanity.com/paper/2006.09090/) (2020)
- [Pedestrian Behavior Interacting with Autonomous Vehicles during Unmarked Midblock Multilane Crossings: Role of Infrastructure Design, AV Operations and Signaling](https://mlsanity.com/paper/2303.17717/) (2023)

## Built on by (most cited first, 2 of 2)

- [The Era of End-to-End Autonomy: Transitioning from Rule-Based Driving to Large Driving Models](https://mlsanity.com/paper/2603.16050/) (2026)
- [Consensus-Aware AV Behavior: Trade-offs Between Safety, Interaction, and Performance in Mixed Urban Traffic](https://mlsanity.com/paper/2505.04379/) (2025)

## Abstract (arXiv)

This study presents the outcomes of empirical investigations pertaining to human-vehicle interactions involving an autonomous vehicle equipped with both internal and external Human Machine Interfaces (HMIs) within a crosswalk scenario. The internal and external HMIs were integrated with implicit communication techniques, incorporating a combination of gentle and aggressive braking maneuvers within the crosswalk. Data were collected through a combination of questionnaires and quantifiable metrics, including pedestrian decision to cross related to the vehicle distance and speed. The questionnaire responses reveal that pedestrians experience enhanced safety perceptions when the external HMI and gentle braking maneuvers are used in tandem. In contrast, the measured variables demonstrate that the external HMI proves effective when complemented by the gentle braking maneuver. Furthermore, the questionnaire results highlight that the internal HMI enhances passenger confidence only when paired with the aggressive braking maneuver.