This study focuses on establishing an external human-machine interface (eHMI) for automated vehicles (AVs) that can clearly and quickly convey driving intentions to pedestrians, thus improving the acceptability of AVs. Frist of all, this study seeks to evaluate whether pedestrians clearly receive the information from the AV. This paper proposes a hypothesis based on a decision-making model of the pedestrian. If a pedestrian does not accurately understand the driving intentions of AVs, then his/her gaze duration at AVs will increase . A pedestrian--vehicle interaction experiment was designed to verify the proposed hypothesis. An AV was used for interacting with pedestrians but whether the AV stops or not during interactions that was controlled by the experimenter. The gaze data of pedestrians and their subjective evaluations of the AV's driving intentions were observed . The experimental results supported the hypothesis , i.e., there was a  correlation between the participants ' gaze duration at an AV and their understanding of the AV's driving intention . Moreover, the gaze duration of most participants at a manually driving vehicle was shorter than that at an AV. Besides, we proposed two recommendations to the designers of eHMI : (1) when a pedestrian is engaged in an interaction with the AV, the driving intentions of the AV should be provided; (2) if the pedestrian still gazes at the AV after the AV displays its driving intentions, the AV should provide more clear information about its driving intentions.
Interactions between pedestrians and automated vehicles (AVs) will increase significantly with the popularity of AV. However, pedestrians often have not enough trust on the AVs , particularly when they are confused about an AV's intention in a interaction. This study seeks to evaluate if pedestrians clearly understand the driving intentions of AVs in interactions and presents experimental research on the relationship between gaze behaviors of pedestrians and their understanding of the intentions of the AV. The hypothesis investigated in this study was that the less the pedestrian understands the driving intentions of the AV, the longer the duration of their gazing behavior will be . A pedestrian--vehicle interaction experiment was designed to verify the proposed hypothesis. A robotic wheelchair was used as the manual driving vehicle (MV) and AV for interacting with pedestrians while pedestrians' gaze data and their subjective evaluation of the driving intentions were recorded . The experimental results supported our hypothesis as there was a negative correlation between the pedestrians ' gaze duration on the AV and their understanding of the driving intentions of the AV . Moreover, the gaze duration of most of the pedestrians on the MV was shorter than that on an AV. Therefore, we conclude with two recommendations to designers of external human-machine interfaces (eHMI) : (1) when a pedestrian is engaged in an interaction with an AV, the driving intentions of the AV should be provided; (2) if the pedestrian still gazes at the AV after the AV displays its driving intentions, the AV should provide clearer information about its driving intentions.
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