Automated vehicles (AVs) will be at the stage of human–machine cooperative driving probably for a long term and their control is shared by two drivers: the human driver and the automated driving system (ADS). ADS failures are a major contributor to the disengagements of AV testing on public roads and influence human–ADS interactions. The impact of ADS failures (malfunctions or limits) was only examined in the driving simulator environment and mainly on self-reported trust in the ADS or AVs. Utilizing simulators to investigate the influence of ADS failures might lack ecological validity. Participants in this environment might find it hard to imagine the risk of ADS failures and the criticality of taking immediate manual control. We conducted a field study with a real Level 3 AV and a large-scale test track. We invited participants (N = 261) to experience the AV and an ADS malfunction as passengers in a naturalistic driving environment, exposing almost half the participants to the malfunction. Witnessing the malfunction caused participants’ reductions in six psychological responses to AVs and ADS (trust, positive affect, perceived usefulness, perceived ease of use, attitude, and behavioral intention) and increased negative affect. This finding highlights the importance of mitigating the detrimental influences of ADS malfunctions. Trust repair deserves consideration in maintaining adequate human–machine cooperation in AVs after ADS malfunctions.

自动驾驶汽车（AV）很可能长期处于人机协同驾驶阶段，其控制权由两个驾驶员共享：人类驾驶员和自动驾驶系统（ADS）。ADS 故障是导致 AV 测试在公共道路上脱离并影响人与 ADS 交互的主要因素。ADS 故障（故障或限制）的影响仅在驾驶模拟器环境中进行了检查，主要是对 ADS 或 AV 的自我报告信任。利用模拟器调查 ADS 故障的影响可能缺乏生态有效性。这种环境中的参与者可能会发现很难想象 ADS 失败的风险以及立即进行手动控制的重要性。我们使用真正的 Level 3 AV 和大型测试轨道进行了实地研究。我们邀请了参与者（N  = 261) 作为乘客在自然驾驶环境中体验 AV 和 ADS 故障，使几乎一半的参与者暴露在故障中。目睹故障导致参与者对 AV 和 ADS 的六种心理反应（信任、积极影响、感知有用性、感知易用性、态度和行为意图）减少，并增加了负面影响。这一发现强调了减轻 ADS 故障的不利影响的重要性。在 ADS 出现故障后，在自动驾驶汽车中保持足够的人机合作时，信任修复值得考虑。