{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,10,19]],"date-time":"2025-10-19T15:44:21Z","timestamp":1760888661554,"version":"build-2065373602"},"reference-count":22,"publisher":"Fuji Technology Press Ltd.","issue":"5","funder":[{"DOI":"10.13039\/501100001691","name":"Japan Society for the Promotion of Science","doi-asserted-by":"publisher","award":["JP24K06437"],"award-info":[{"award-number":["JP24K06437"]}],"id":[{"id":"10.13039\/501100001691","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["JRM","J. Robot. Mechatron."],"published-print":{"date-parts":[[2025,10,20]]},"abstract":"<jats:p>Drivers use turn signals and stop lamps to inform the surrounding environment of their intentions and behavior. However, these notifications are insufficient in reality; therefore, drivers also use gestures and eye contact to communicate with others, as necessary. However, automated vehicles that are currently being tested or put into practical use are not equipped with these communication functions. Therefore, we focus on communication methods using an external human\u2013machine interface (eHMI). In this study, we conducted an experimental investigation using a driving simulator to examine the effect of an eHMI on a driver who intends to enter the main road from a parking lot of an off-road facility when an automated vehicle traveling on the main road presents an intention to yield. The results of a subjective evaluation indicated that the driver understanding of the eHMI was related to the number of contacts with it. When the text-display type eHMI presented specific information, drivers merging onto the mainline made their merging decisions earlier than in other conditions.<\/jats:p>","DOI":"10.20965\/jrm.2025.p1186","type":"journal-article","created":{"date-parts":[[2025,10,19]],"date-time":"2025-10-19T15:02:06Z","timestamp":1760886126000},"page":"1186-1194","source":"Crossref","is-referenced-by-count":0,"title":["Comparison of External Human\u2013Machine Interfaces for Presenting the Intention to Yield from an Automated Vehicle to a Driver"],"prefix":"10.20965","volume":"37","author":[{"ORCID":"https:\/\/orcid.org\/0009-0000-1046-2485","authenticated-orcid":true,"given":"Hidehiro","family":"Saeki","sequence":"first","affiliation":[{"name":"Graduate School of Integrated Frontier Sciences, Kyushu University, 744 Motooka, Nishi-ku, Fukuoka, Fukuoka 819-0395, Japan"}]},{"given":"Kazunori","family":"Shidoji","sequence":"additional","affiliation":[{"name":"Faculty of Information Science and Electrical Engineering, Kyushu University, 744 Motooka, Nishi-ku, Fukuoka, Fukuoka 819-0395, Japan"}]}],"member":"8550","published-online":{"date-parts":[[2025,10,20]]},"reference":[{"key":"key-10.20965\/jrm.2025.p1186-1","doi-asserted-by":"crossref","unstructured":"K. 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Sharlin, \u201cAV-pedestrian interaction design using a pedestrian mixed traffic simulator,\u201d Proc. of the 2019 on Designing Interactive Systems Conf., pp. 475-486, 2019. https:\/\/doi.org\/10.1145\/3322276.3322328","DOI":"10.1145\/3322276.3322328"},{"key":"key-10.20965\/jrm.2025.p1186-4","doi-asserted-by":"crossref","unstructured":"SAE International, \u201cTaxonomy and definitions for terms related to driving automation systems for on-road motor vehicles,\u201d SAE J3016_202104, 2021. https:\/\/doi.org\/10.4271\/J3016_202104","DOI":"10.4271\/J3016_202104"},{"key":"key-10.20965\/jrm.2025.p1186-5","doi-asserted-by":"crossref","unstructured":"A. Habibovic et al., \u201cCommunicating intent of automated vehicles to pedestrians,\u201d Frontiers in Psychology, Vol.9, Article No.1336, 2018. https:\/\/doi.org\/10.3389\/fpsyg.2018.01336","DOI":"10.3389\/fpsyg.2018.01336"},{"key":"key-10.20965\/jrm.2025.p1186-6","doi-asserted-by":"crossref","unstructured":"A. Loew et al., \u201cGo ahead, please!\u2014Evaluation of external human\u2013machine interfaces in a real-world crossing scenario,\u201d Frontiers in Computer Science, Vol.4, Article No.863072, 2022. https:\/\/doi.org\/10.3389\/fcomp.2022.863072","DOI":"10.3389\/fcomp.2022.863072"},{"key":"key-10.20965\/jrm.2025.p1186-7","doi-asserted-by":"crossref","unstructured":"D. Eisele and T. Petzoldt, \u201cEffects of traffic context on eHMI icon comprehension,\u201d Transportation Research Part F: Traffic Psychology and Behaviour, Vol.85, pp. 1-12, 2022. https:\/\/doi.org\/10.1016\/j.trf.2021.12.014","DOI":"10.1016\/j.trf.2021.12.014"},{"key":"key-10.20965\/jrm.2025.p1186-8","doi-asserted-by":"crossref","unstructured":"A. G. Mirnig et al., \u201cStop or go? Let me know!: A field study on visual external communication for automated shuttles,\u201d Proc. of the 13th Int. Conf. on Automotive User Interfaces and Interactive Vehicular Applications, pp. 287-295, 2021. https:\/\/doi.org\/10.1145\/3409118.3475131","DOI":"10.1145\/3409118.3475131"},{"key":"key-10.20965\/jrm.2025.p1186-9","doi-asserted-by":"crossref","unstructured":"S. Deb, L. J. Strawderman, and D. W. Carruth, \u201cInvestigating pedestrian suggestions for external features on fully autonomous vehicles: A virtual reality experiment,\u201d Transportation Research Part F: Traffic Psychology and Behaviour, Vol.59, Part A, pp. 135-149, 2018. https:\/\/doi.org\/10.1016\/j.trf.2018.08.016","DOI":"10.1016\/j.trf.2018.08.016"},{"key":"key-10.20965\/jrm.2025.p1186-10","doi-asserted-by":"crossref","unstructured":"D. Dey et al., \u201cTaming the eHMI jungle: A classification taxonomy to guide, compare, and assess the design principles of automated vehicles\u2019 external human-machine interfaces,\u201d Transportation Research Interdisciplinary Perspectives, Vol.7, Article No.100174, 2020. https:\/\/doi.org\/10.1016\/j.trip.2020.100174","DOI":"10.1016\/j.trip.2020.100174"},{"key":"key-10.20965\/jrm.2025.p1186-11","doi-asserted-by":"crossref","unstructured":"M. Rettenmaier, D. Albers, and K. Bengler, \u201cAfter you?! \u2013 Use of external human-machine interfaces in road bottleneck scenarios,\u201d Transportation Research Part F: Traffic Psychology and Behaviour, Vol.70, pp. 175-190, 2020. https:\/\/doi.org\/10.1016\/j.trf.2020.03.004","DOI":"10.1016\/j.trf.2020.03.004"},{"key":"key-10.20965\/jrm.2025.p1186-12","doi-asserted-by":"crossref","unstructured":"H. Saeki and K. Shidoji, \u201cAttitudes of person at driver\u2019s seat of level 3\u20134 automated vehicle affect human driver entering roadway,\u201d Int. J. of Intelligent Transportation Systems Research, Vol.23, No.1, pp. 432-440, 2025. https:\/\/doi.org\/10.1007\/s13177-024-00459-4","DOI":"10.1007\/s13177-024-00459-4"},{"key":"key-10.20965\/jrm.2025.p1186-13","doi-asserted-by":"crossref","unstructured":"H. Furuya, T. Ikeda, M. Tsuchiya, T. Oota, N. Mori, \u201cAnalysis of traffic accidents on the roadside shop entrance,\u201d Infrastructure Planning Review, Vol.21, pp. 983-990, 2004 (in Japanese). https:\/\/doi.org\/10.2208\/journalip.21.983","DOI":"10.2208\/journalip.21.983"},{"key":"key-10.20965\/jrm.2025.p1186-14","doi-asserted-by":"crossref","unstructured":"SAE International, \u201cAutomated driving system (ADS) marker lamp,\u201d SAE J3134, 2019. https:\/\/doi.org\/10.4271\/j3134_201905","DOI":"10.4271\/J3134_201905"},{"key":"key-10.20965\/jrm.2025.p1186-15","doi-asserted-by":"crossref","unstructured":"M. Monzel, K. Keidel, W. Schubert, and R. Banse, \u201cA field study investigating road safety effects of a front brake light,\u201d IET Intelligent Transport Systems, Vol.15, No.8, pp. 1043-1052, 2021. https:\/\/doi.org\/10.1049\/itr2.12080","DOI":"10.1049\/itr2.12080"},{"key":"key-10.20965\/jrm.2025.p1186-16","doi-asserted-by":"crossref","unstructured":"T. Daimon, M. Taima, and S. Kitazaki, \u201cPedestrian carelessness toward traffic environment due to external human\u2013machine interfaces of automated vehicles,\u201d J. of Traffic and Logistics Engineering, Vol.9, No.2, pp. 42-47, 2021. https:\/\/doi.org\/10.18178\/jtle.9.2.42-47","DOI":"10.18178\/jtle.9.2.42-47"},{"key":"key-10.20965\/jrm.2025.p1186-17","doi-asserted-by":"crossref","unstructured":"P. Bazilinskyy, D. Dodou, and J. de Winter, \u201cSurvey on eHMI concepts: The effect of text, color, and perspective,\u201d Transportation Research Part F: Traffic Psychology and Behaviour, Vol.67, pp. 175-194, 2019. https:\/\/doi.org\/10.1016\/j.trf.2019.10.013","DOI":"10.1016\/j.trf.2019.10.013"},{"key":"key-10.20965\/jrm.2025.p1186-18","doi-asserted-by":"crossref","unstructured":"M. Colley, C. Hummler, and E. 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