Automated vehicles (AVs) are able to detect pedestrians reliably but still have difficulty in predicting pedestrians’ intentions from their implicit body language. This study examined the effects of using explicit hand gestures and receptive external human-machine interfaces (eHMIs) in the interaction between pedestrians and AVs. Twenty-six participants interacted with AVs in a virtual environment while wearing a head-mounted display. The participants’ movements in the virtual environment were visualized using a motion-tracking suit. The first independent variable was the participants’ opportunity to use a hand gesture to increase the probability that the AV would stop for them. The second independent variable was the AV’s response “I SEE YOU,” displayed on an eHMI when the vehicle yielded. Accordingly, one-way communication (gesture or eHMI) and two-way communication (gesture and eHMI combined) were investigated. The results showed that the participants decided to use hand gestures in 70% of the trials. Furthermore, the eHMI improved the predictability of the AV’s behavior compared to no eHMI, as inferred from self-reports and hand-use behavior. A postexperiment questionnaire indicated that two-way communication was the most preferred condition and that the eHMI alone was more preferred than the gesture alone. The results further indicate limitations of hand gestures regarding false-positive detection and confusion if the AV decides not to yield. It is concluded that bidirectional human-robot communication has considerable potential.

中文翻译：

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我看到你的手势：基于VR的行人与自动车辆之间双向通信的研究

自动驾驶汽车（AVs）能够可靠地检测出行人，但仍然难以从其隐含的肢体语言预测行人的意图。这项研究研究了在行人和AV之间的交互中使用明确的手势和可接收的外部人机界面（eHMI）的影响。26位参与者戴着头戴式显示器在虚拟环境中与AV进行了交互。使用运动追踪套装将参与者在虚拟环境中的运动可视化。第一个独立变量是参与者有机会使用手势来增加AV为他们停止的可能性。第二个独立变量是当车辆屈服时在eHMI上显示的AV响应“我看到你”。因此，研究了单向沟通（手势或eHMI）和双向沟通（手势和eHMI的结合）。结果表明，参与者决定在70％的试验中使用手势。此外，从自我报告和手动行为推断，与没有eHMI相比，eHMI改善了AV行为的可预测性。实验后调查表表明，双向通信是最优选的条件，并且单独使用eHMI比单独使用手势更可取。结果还表明，如果AV决定不屈服，则手势在假阳性检测和混乱方面的局限性。结论是，双向人机通信具有巨大的潜力。结果表明，参与者决定在70％的试验中使用手势。此外，从自我报告和手动行为推断，与没有eHMI相比，eHMI改善了AV行为的可预测性。实验后调查表表明，双向通信是最优选的条件，并且单独使用eHMI比单独使用手势更可取。结果还表明，如果AV决定不屈服，则手势在假阳性检测和混乱方面的局限性。结论是，双向人机通信具有巨大的潜力。结果表明，参与者决定在70％的试验中使用手势。此外，从自我报告和手动行为推断，与没有eHMI相比，eHMI改善了AV行为的可预测性。实验后调查表表明，双向通信是最优选的条件，并且单独使用eHMI比单独使用手势更可取。结果还表明，如果AV决定不屈服，则手势在假阳性检测和混乱方面的局限性。结论是，双向人机通信具有巨大的潜力。实验后调查表表明，双向通信是最优选的条件，并且单独使用eHMI比单独使用手势更可取。结果还表明，如果AV决定不屈服，则手势在假阳性检测和混乱方面的局限性。结论是，双向人机通信具有巨大的潜力。实验后调查表表明，双向通信是最优选的条件，并且单独使用eHMI比单独使用手势更可取。结果还表明，如果AV决定不屈服，则手势在假阳性检测和混乱方面的局限性。结论是，双向人机通信具有巨大的潜力。