{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,7,7]],"date-time":"2026-07-07T11:14:48Z","timestamp":1783422888987,"version":"3.54.6"},"reference-count":97,"publisher":"Association for Computing Machinery (ACM)","issue":"3","license":[{"start":{"date-parts":[[2023,9,27]],"date-time":"2023-09-27T00:00:00Z","timestamp":1695772800000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100002582","name":"Gwangju Institute of Science and Technology","doi-asserted-by":"publisher","id":[{"id":"10.13039\/501100002582","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":["dl.acm.org"],"crossmark-restriction":true},"short-container-title":["Proc. ACM Interact. Mob. Wearable Ubiquitous Technol."],"published-print":{"date-parts":[[2023,9,27]]},"abstract":"<jats:p>Explanations in automated vehicles help passengers understand the vehicle's state and capabilities, leading to increased trust in the technology. Specifically, for passengers of SAE Level 4 and 5 vehicles who are not engaged in the driving process, the enhanced sense of control provided by explanations reduces potential anxieties, enabling them to fully leverage the benefits of automation. To construct explanations that enhance trust and situational awareness without disturbing passengers, we suggest testing with people who ultimately employ such explanations, ideally under real-world driving conditions. In this study, we examined the impact of various visual explanation types (perception, attention, perception+attention) and timing mechanisms (constantly provided or only under risky scenarios) on passenger experience under naturalistic driving scenarios using actual vehicles with mixed-reality support. Our findings indicate that visualizing the vehicle's perception state improves the perceived usability, trust, safety, and situational awareness without adding cognitive burden, even without explaining the underlying causes. We also demonstrate that the traffic risk probability could be used to control the timing of an explanation delivery, particularly when passengers are overwhelmed with information. Our study's on-road evaluation method offers a safe and reliable testing environment and can be easily customized for other AI models and explanation modalities.<\/jats:p>","DOI":"10.1145\/3610886","type":"journal-article","created":{"date-parts":[[2023,9,27]],"date-time":"2023-09-27T15:45:03Z","timestamp":1695829503000},"page":"1-26","update-policy":"https:\/\/doi.org\/10.1145\/crossmark-policy","source":"Crossref","is-referenced-by-count":31,"title":["What and When to Explain?"],"prefix":"10.1145","volume":"7","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-4512-1573","authenticated-orcid":false,"given":"Gwangbin","family":"Kim","sequence":"first","affiliation":[{"name":"Gwangju Institute of Science and Technology, Gwangju, Republic of Korea"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-0531-9291","authenticated-orcid":false,"given":"Dohyeon","family":"Yeo","sequence":"additional","affiliation":[{"name":"Gwangju Institute of Science and Technology, Gwangju, Republic of Korea"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0009-0003-4703-702X","authenticated-orcid":false,"given":"Taewoo","family":"Jo","sequence":"additional","affiliation":[{"name":"Gwangju Institute of Science and Technology, Gwangju, Republic of Korea"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-5473-3566","authenticated-orcid":false,"given":"Daniela","family":"Rus","sequence":"additional","affiliation":[{"name":"Massachusetts Institute of Technology, Cambridge, United States"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-0470-2483","authenticated-orcid":false,"given":"SeungJun","family":"Kim","sequence":"additional","affiliation":[{"name":"Gwangju Institute of Science and Technology, Gwangju, Republic of Korea"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"320","published-online":{"date-parts":[[2023,9,27]]},"reference":[{"key":"e_1_2_2_1_1","doi-asserted-by":"publisher","DOI":"10.3390\/s21062206"},{"key":"e_1_2_2_2_1","doi-asserted-by":"publisher","DOI":"10.1145\/2799250.2799288"},{"key":"e_1_2_2_3_1","doi-asserted-by":"publisher","DOI":"10.1145\/3394171.3413827"},{"key":"e_1_2_2_4_1","doi-asserted-by":"publisher","DOI":"10.7717\/peerj-cs.13"},{"key":"e_1_2_2_5_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.jneumeth.2010.04.028"},{"key":"e_1_2_2_6_1","doi-asserted-by":"publisher","DOI":"10.1111\/j.1469-8986.2009.00972.x"},{"key":"e_1_2_2_7_1","volume-title":"SUS-A quick and dirty usability scale. Usability evaluation in industry 189, 194","author":"Brooke John","year":"1996","unstructured":"John Brooke. 1996. SUS-A quick and dirty usability scale. Usability evaluation in industry 189, 194 (1996), 4--7."},{"key":"e_1_2_2_8_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.apergo.2020.103074"},{"key":"e_1_2_2_9_1","doi-asserted-by":"publisher","DOI":"10.1080\/10447318.2015.1070549"},{"key":"e_1_2_2_10_1","doi-asserted-by":"publisher","DOI":"10.1145\/3409120.3410648"},{"key":"e_1_2_2_11_1","doi-asserted-by":"publisher","DOI":"10.1145\/3411764.3445351"},{"key":"e_1_2_2_12_1","doi-asserted-by":"publisher","DOI":"10.1145\/3478111"},{"key":"e_1_2_2_13_1","doi-asserted-by":"publisher","DOI":"10.1145\/3534609"},{"key":"e_1_2_2_14_1","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2016.350"},{"key":"e_1_2_2_15_1","doi-asserted-by":"publisher","DOI":"10.1016\/0950-7051(93)90017-N"},{"key":"e_1_2_2_16_1","doi-asserted-by":"publisher","DOI":"10.1177\/0018720819842779"},{"key":"e_1_2_2_17_1","doi-asserted-by":"publisher","DOI":"10.1145\/3409120.3410662"},{"key":"e_1_2_2_18_1","doi-asserted-by":"publisher","DOI":"10.1145\/3447526.3472041"},{"key":"e_1_2_2_19_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.trc.2019.05.025"},{"key":"e_1_2_2_20_1","doi-asserted-by":"publisher","DOI":"10.1145\/3173574.3173856"},{"key":"e_1_2_2_21_1","volume-title":"Handbook of Driving Simulation for Engineering, Medicine, and Psychology","author":"Fisher Donald L","unstructured":"Donald L Fisher, Matthew Rizzo, Jeffrey Caird, and John D Lee. 2011. Handbook of Driving Simulation for Engineering, Medicine, and Psychology. CRC Press."},{"key":"e_1_2_2_22_1","doi-asserted-by":"publisher","DOI":"10.1145\/3290605.3300374"},{"key":"e_1_2_2_23_1","doi-asserted-by":"publisher","DOI":"10.1145\/3239060.3265636"},{"key":"e_1_2_2_24_1","doi-asserted-by":"publisher","DOI":"10.1145\/3313831.3376751"},{"key":"e_1_2_2_25_1","volume-title":"Yassine Zakarya Ghouali, and Mohammed Feham","author":"Ghouali Samir","year":"2017","unstructured":"Samir Ghouali, Yassine Zakarya Ghouali, and Mohammed Feham. 2017. An investigation of analytic decision during driving test. International journal of advanced computer science and applications (IJACSA) 8 (2017)."},{"key":"e_1_2_2_26_1","doi-asserted-by":"publisher","DOI":"10.1016\/S0001-4575(01)00056-2"},{"key":"e_1_2_2_27_1","doi-asserted-by":"publisher","DOI":"10.1145\/3173574.3173739"},{"key":"e_1_2_2_28_1","doi-asserted-by":"publisher","DOI":"10.1109\/IV51971.2022.9827312"},{"key":"e_1_2_2_29_1","doi-asserted-by":"publisher","DOI":"10.1145\/3543174.3546846"},{"key":"e_1_2_2_30_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.trf.2020.06.021"},{"key":"e_1_2_2_31_1","doi-asserted-by":"publisher","DOI":"10.1016\/S0166-4115(08)62386-9"},{"key":"e_1_2_2_32_1","volume-title":"Handbook of warnings (1st. ed.)","author":"Hass Ellen","unstructured":"Ellen Hass and Judy Edworthy. 2006. Handbook of warnings (1st. ed.). CRC Press. 189--198 pages."},{"key":"e_1_2_2_33_1","doi-asserted-by":"publisher","DOI":"10.1145\/3301275.3302268"},{"key":"e_1_2_2_34_1","doi-asserted-by":"publisher","DOI":"10.1145\/3025453.3025665"},{"key":"e_1_2_2_35_1","doi-asserted-by":"publisher","DOI":"10.1145\/3543174.3545252"},{"key":"e_1_2_2_36_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.ijhcs.2019.07.004"},{"key":"e_1_2_2_37_1","doi-asserted-by":"publisher","DOI":"10.1207\/S15327566IJCE0401_04"},{"key":"e_1_2_2_38_1","volume-title":"ADAPT: Action-aware Driving Caption Transformer. arXiv preprint arXiv:2302.00673","author":"Jin Bu","year":"2023","unstructured":"Bu Jin, Xinyu Liu, Yupeng Zheng, Pengfei Li, Hao Zhao, Tong Zhang, Yuhang Zheng, Guyue Zhou, and Jingjing Liu. 2023. ADAPT: Action-aware Driving Caption Transformer. arXiv preprint arXiv:2302.00673 (2023)."},{"key":"e_1_2_2_39_1","doi-asserted-by":"publisher","DOI":"10.1145\/3287053"},{"key":"e_1_2_2_40_1","doi-asserted-by":"publisher","DOI":"10.1145\/3381009"},{"key":"e_1_2_2_41_1","doi-asserted-by":"publisher","DOI":"10.1109\/ICCV.2017.320"},{"key":"e_1_2_2_42_1","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR42600.2020.00968"},{"key":"e_1_2_2_43_1","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-030-01216-8_35"},{"key":"e_1_2_2_44_1","volume-title":"Proceedings of the 33rd Annual ACM Conference on Human Factors in Computing Systems","author":"Kim SeungJun","unstructured":"SeungJun Kim, Jaemin Chun, and Anind K. Dey. 2015. Sensors Know When to Interrupt You in the Car: Detecting Driver Interruptibility Through Monitoring of Peripheral Interactions. In Proceedings of the 33rd Annual ACM Conference on Human Factors in Computing Systems (Seoul, Republic of Korea) (CHI '15). Association for Computing Machinery, New York, NY, USA, 487--496. https:\/\/doi.org\/10. 1145\/2702123.2702409"},{"key":"e_1_2_2_45_1","doi-asserted-by":"publisher","DOI":"10.3390\/app12031438"},{"key":"e_1_2_2_46_1","doi-asserted-by":"publisher","DOI":"10.1007\/s12008-014-0227-2"},{"key":"e_1_2_2_47_1","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-319-96074-6_2"},{"key":"e_1_2_2_48_1","volume-title":"Textual Explanations for Automated Commentary Driving. arXiv preprint arXiv:2304.08178","author":"K\u00fchn Marc Alexander","year":"2023","unstructured":"Marc Alexander K\u00fchn, Daniel Omeiza, and Lars Kunze. 2023. Textual Explanations for Automated Commentary Driving. arXiv preprint arXiv:2304.08178 (2023)."},{"key":"e_1_2_2_49_1","doi-asserted-by":"publisher","DOI":"10.1145\/3122986.3122987"},{"key":"e_1_2_2_50_1","doi-asserted-by":"publisher","DOI":"10.1016\/j"},{"key":"e_1_2_2_51_1","volume-title":"ICASSP 2023-2023 IEEE International Conference on Acoustics, Speech and Signal Processing (ICASSP)","author":"Lavanuru Pravallika","unstructured":"Pravallika Lavanuru, Sawon Pratiher, Karuna P Sahoo, Mrinal Acharya, Nirmalya Ghosh, and Amit Patra. 2023. Parasympathetic-Sympathetic Causal Interactions and Perceived Workload for Varying Difficulty Affective Computing Tasks. In ICASSP 2023-2023 IEEE International Conference on Acoustics, Speech and Signal Processing (ICASSP). IEEE, 1--5."},{"key":"e_1_2_2_52_1","doi-asserted-by":"publisher","DOI":"10.1038\/s42256-020-00237-3"},{"key":"e_1_2_2_53_1","doi-asserted-by":"publisher","DOI":"10.1518\/hfes.46.1.50_30392"},{"key":"e_1_2_2_54_1","first-page":"3","article-title":"Item Benchmarks for the System Usability Scale","volume":"13","author":"Lewis James R.","year":"2018","unstructured":"James R. Lewis and Jeff Sauro. 2018. Item Benchmarks for the System Usability Scale. J. Usability Studies 13, 3 (may 2018), 158--167.","journal-title":"J. Usability Studies"},{"key":"e_1_2_2_55_1","doi-asserted-by":"publisher","DOI":"10.1145\/3342197.3344525"},{"key":"e_1_2_2_56_1","doi-asserted-by":"publisher","DOI":"10.1109\/TITS.2021.3135266"},{"key":"e_1_2_2_57_1","doi-asserted-by":"publisher","DOI":"10.3389\/fnhum.2019.00057"},{"key":"e_1_2_2_58_1","doi-asserted-by":"publisher","DOI":"10.3390\/app12115310"},{"key":"e_1_2_2_59_1","doi-asserted-by":"publisher","DOI":"10.1145\/3239060.3239078"},{"key":"e_1_2_2_60_1","doi-asserted-by":"publisher","DOI":"10.1145\/3349263.3351330"},{"key":"e_1_2_2_61_1","doi-asserted-by":"publisher","DOI":"10.1145\/3025453.3026046"},{"key":"e_1_2_2_62_1","doi-asserted-by":"publisher","DOI":"10.1007\/s10055-019-00420-x"},{"key":"e_1_2_2_63_1","doi-asserted-by":"publisher","DOI":"10.1145\/3526113.3545657"},{"key":"e_1_2_2_64_1","doi-asserted-by":"publisher","DOI":"10.1145\/3546712"},{"key":"e_1_2_2_65_1","doi-asserted-by":"publisher","DOI":"10.1109\/ITSC48978.2021.9564966"},{"key":"e_1_2_2_66_1","doi-asserted-by":"publisher","DOI":"10.1109\/IVS.2017.7995835"},{"key":"e_1_2_2_67_1","doi-asserted-by":"publisher","DOI":"10.1109\/MCG.2018.111125628"},{"key":"e_1_2_2_68_1","doi-asserted-by":"publisher","DOI":"10.1109\/IV51971.2022.9827345"},{"key":"e_1_2_2_69_1","doi-asserted-by":"publisher","DOI":"10.1109\/IV48863.2021.9575917"},{"key":"e_1_2_2_70_1","doi-asserted-by":"publisher","DOI":"10.1109\/TITS.2021.3122865"},{"key":"e_1_2_2_71_1","doi-asserted-by":"publisher","DOI":"10.1145\/3411764.3445563"},{"key":"e_1_2_2_72_1","doi-asserted-by":"publisher","DOI":"10.3141\/2138-15"},{"key":"e_1_2_2_73_1","doi-asserted-by":"publisher","DOI":"10.1109\/ROMAN.2016.7745210"},{"key":"e_1_2_2_74_1","doi-asserted-by":"publisher","DOI":"10.1145\/2970930.2970947"},{"key":"e_1_2_2_75_1","doi-asserted-by":"publisher","DOI":"10.1145\/3397481.3450687"},{"key":"e_1_2_2_76_1","doi-asserted-by":"publisher","DOI":"10.1145\/3411764.3446647"},{"key":"e_1_2_2_77_1","doi-asserted-by":"publisher","DOI":"10.1145\/3581641.3584085"},{"key":"e_1_2_2_78_1","article-title":"On the Usage of Cronbach's Alpha to Measure Reliability of UX Scales","volume":"15","author":"Schrepp Martin","year":"2020","unstructured":"Martin Schrepp. 2020. On the Usage of Cronbach's Alpha to Measure Reliability of UX Scales. Journal of Usability Studies 15, 4 (2020).","journal-title":"Journal of Usability Studies"},{"key":"e_1_2_2_79_1","doi-asserted-by":"publisher","DOI":"10.1146\/annurev-control-060117-105157"},{"key":"e_1_2_2_80_1","doi-asserted-by":"publisher","DOI":"10.1109\/ICCV.2017.74"},{"key":"e_1_2_2_81_1","doi-asserted-by":"publisher","DOI":"10.1145\/3290605.3300867"},{"key":"e_1_2_2_82_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.apergo.2022.103824"},{"key":"e_1_2_2_83_1","volume-title":"Proceedings of the 14th ACM\/IEEE International Conference on Human-Robot Interaction (Daegu, Republic of Korea) (HRI '19)","author":"Sportillo Daniele","year":"2020","unstructured":"Daniele Sportillo, Alexis Paljic, and Luciano Ojeda. 2020. On-Road Evaluation of Autonomous Driving Training. In Proceedings of the 14th ACM\/IEEE International Conference on Human-Robot Interaction (Daegu, Republic of Korea) (HRI '19). IEEE Press, 182--190."},{"key":"e_1_2_2_84_1","doi-asserted-by":"publisher","DOI":"10.1145\/3546726"},{"key":"e_1_2_2_85_1","doi-asserted-by":"publisher","DOI":"10.1080\/1463922X.2021.1975170"},{"key":"e_1_2_2_86_1","volume-title":"ed.)","author":"Taylor Richard M.","unstructured":"Richard M. Taylor. 2011. Situational Awareness (1st. ed.). CRC Press. 111--128 pages."},{"key":"e_1_2_2_87_1","doi-asserted-by":"publisher","DOI":"10.1177\/0018720818768199"},{"key":"e_1_2_2_88_1","doi-asserted-by":"publisher","DOI":"10.1145\/2909824.3020256"},{"key":"e_1_2_2_89_1","doi-asserted-by":"publisher","DOI":"10.1145\/3379503.3403554"},{"key":"e_1_2_2_90_1","doi-asserted-by":"publisher","DOI":"10.1145\/3290607.3312817"},{"key":"e_1_2_2_91_1","doi-asserted-by":"publisher","DOI":"10.1145\/3397481.3450677"},{"key":"e_1_2_2_92_1","doi-asserted-by":"publisher","unstructured":"Bob Williams. 2021. Automated Driving Levels. 19--41. https:\/\/doi.org\/10.1002\/9781119765394.ch2","DOI":"10.1002\/9781119765394.ch2"},{"key":"e_1_2_2_93_1","volume-title":"Bhattacharyya","author":"Xu Jiacong","year":"2022","unstructured":"JJiacong Xu, Zixiang Xiong, and Shankar P. Bhattacharyya. 2022. PIDNet: A Real-time Semantic Segmentation Network Inspired from PID Controller. arXiv:2206.02066 [cs.DL]"},{"key":"e_1_2_2_94_1","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR42600.2020.00954"},{"key":"e_1_2_2_95_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.aap.2007.06.007"},{"key":"e_1_2_2_96_1","doi-asserted-by":"publisher","DOI":"10.1109\/ISMAR-Adjunct.2019.00124"},{"key":"e_1_2_2_97_1","doi-asserted-by":"publisher","DOI":"10.1145\/3313831.3376787"}],"container-title":["Proceedings of the ACM on Interactive, Mobile, Wearable and Ubiquitous Technologies"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/dl.acm.org\/doi\/10.1145\/3610886","content-type":"unspecified","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/dl.acm.org\/doi\/pdf\/10.1145\/3610886","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,7,28]],"date-time":"2025-07-28T16:25:55Z","timestamp":1753719955000},"score":1,"resource":{"primary":{"URL":"https:\/\/dl.acm.org\/doi\/10.1145\/3610886"}},"subtitle":["On-road Evaluation of Explanations in Highly Automated Vehicles"],"short-title":[],"issued":{"date-parts":[[2023,9,27]]},"references-count":97,"journal-issue":{"issue":"3","published-print":{"date-parts":[[2023,9,27]]}},"alternative-id":["10.1145\/3610886"],"URL":"https:\/\/doi.org\/10.1145\/3610886","relation":{},"ISSN":["2474-9567"],"issn-type":[{"value":"2474-9567","type":"electronic"}],"subject":[],"published":{"date-parts":[[2023,9,27]]},"assertion":[{"value":"2023-09-27","order":3,"name":"published","label":"Published","group":{"name":"publication_history","label":"Publication History"}}]}}