  Effective human-vehicle collaboration requires an appropriate un-derstanding
of vehicle behavior for safety and trust. Improvingon our prior work by adding
a future prediction module, we in-troduce our framework, calledAutoPreview, to
enable humans topreview autopilot behaviors prior to direct interaction with
thevehicle. Previewing autopilot behavior can help to ensure
smoothhuman-vehicle collaboration during the initial exploration stagewith the
vehicle. To demonstrate its practicality, we conducted acase study on
human-vehicle collaboration and built a prototypeof our framework with the
CARLA simulator. Additionally, weconducted a between-subject control experiment
(n=10) to studywhether ourAutoPreviewframework can provide a deeper
under-standing of autopilot behavior compared to direct interaction. Ourresults
suggest that theAutoPreviewframework does, in fact, helpusers understand
autopilot behavior and develop appropriate men-tal models
