{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,6,1]],"date-time":"2026-06-01T19:50:35Z","timestamp":1780343435955,"version":"3.54.1"},"reference-count":43,"publisher":"MDPI AG","issue":"9","license":[{"start":{"date-parts":[[2022,4,27]],"date-time":"2022-04-27T00:00:00Z","timestamp":1651017600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["51805034"],"award-info":[{"award-number":["51805034"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["202001JG05"],"award-info":[{"award-number":["202001JG05"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"name":"1st Batch of 2020 MOE of PRC Industry-University Collaborative Education Program","award":["51805034"],"award-info":[{"award-number":["51805034"]}]},{"name":"1st Batch of 2020 MOE of PRC Industry-University Collaborative Education Program","award":["202001JG05"],"award-info":[{"award-number":["202001JG05"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>With the increasing number of automated vehicles (AVs) being tested and operating on roads, external Human\u2013Machine Interfaces (eHMIs) are proposed to facilitate interactions between AVs and other road users. Considering the need to protect vulnerable road users, this paper addresses the issue by providing research evidence on various designs of eHMIs. Ninety participants took part in this experiment. Six sets of eHMI prototypes\u2014Text, Arrowed (Dynamic), Text and Symbol, Symbol only, Tick and Cross and Traffic Lights, including two sub-designs (Cross and Do Not Cross)\u2014were designed. The results showed that 65.1% of participants agreed that external communication would have a positive effect on pedestrians\u2019 crossing decisions. Among all the prototypes, Text, and Text and Symbol, eHMIs were the most widely accepted. In particular, for elderly people and those unfamiliar with traffic rules, Text, and Text and Symbol, eHMIs would lead to faster comprehension. The results confirmed that 68.5% of participants would feel safer crossing if the eHMI had the following features: \u2018Green\u2019, \u2018Text\u2019, \u2018Symbol\u2019, or \u2018Dynamic\u2019. These features are suggested in the design of future systems. This research concluded that eHMIs have a positive effect on V2X communication and that textual eHMIs were clear to pedestrians.<\/jats:p>","DOI":"10.3390\/s22093339","type":"journal-article","created":{"date-parts":[[2022,4,27]],"date-time":"2022-04-27T22:20:20Z","timestamp":1651098020000},"page":"3339","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":19,"title":["External Human\u2013Machine Interfaces for Autonomous Vehicles from Pedestrians\u2019 Perspective: A Survey Study"],"prefix":"10.3390","volume":"22","author":[{"given":"Jiawen","family":"Guo","sequence":"first","affiliation":[{"name":"School of Mechanical Engineering, Beijing Institute of Technology, Beijing 100811, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Quan","family":"Yuan","sequence":"additional","affiliation":[{"name":"School of Mechanical Engineering, Beijing Institute of Technology, Beijing 100811, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Jingrui","family":"Yu","sequence":"additional","affiliation":[{"name":"School of Mechanical Engineering, Beijing Institute of Technology, Beijing 100811, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Xizheng","family":"Chen","sequence":"additional","affiliation":[{"name":"School of Mechanical Engineering, Beijing Institute of Technology, Beijing 100811, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Wenlin","family":"Yu","sequence":"additional","affiliation":[{"name":"School of Mechanical Engineering, Beijing Institute of Technology, Beijing 100811, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Qian","family":"Cheng","sequence":"additional","affiliation":[{"name":"Chair of Ergomonics, Technische Universit\u00e4t M\u00fcnchen, Arcisstra\u00dfe 21, 80333 Munich, Germany"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Wuhong","family":"Wang","sequence":"additional","affiliation":[{"name":"School of Mechanical Engineering, Beijing Institute of Technology, Beijing 100811, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Wenhui","family":"Luo","sequence":"additional","affiliation":[{"name":"Research Institute of Highway Ministry of Transport, Beijing 100088, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Xiaobei","family":"Jiang","sequence":"additional","affiliation":[{"name":"School of Mechanical Engineering, Beijing Institute of Technology, Beijing 100811, China"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"1968","published-online":{"date-parts":[[2022,4,27]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"286","DOI":"10.1136\/ip.2009.023697","article-title":"Global status report on road safety","volume":"15","author":"Toroyan","year":"2009","journal-title":"Inj. Prev."},{"key":"ref_2","doi-asserted-by":"crossref","first-page":"103867","DOI":"10.1016\/j.robot.2021.103867","article-title":"Heuristic-based method for conflict discovery of shared control between humans and autonomous systems\u2014A driving automation case study","volume":"146","author":"Vanderhaegen","year":"2021","journal-title":"Robot. Auton. Syst."},{"key":"ref_3","doi-asserted-by":"crossref","first-page":"167","DOI":"10.1016\/j.tra.2015.04.003","article-title":"Preparing a nation for autonomous vehicles: Opportunities, barriers and policy recommendations","volume":"77","author":"Fagnant","year":"2015","journal-title":"Transp. Res. Part A Policy Pract."},{"key":"ref_4","first-page":"1","article-title":"Peripheral Interactive Experience in Intelligent Vehicle","volume":"39","author":"Tan","year":"2018","journal-title":"Packag. Eng."},{"key":"ref_5","doi-asserted-by":"crossref","unstructured":"Lundgren, V.M., Habibovic, A., Andersson, J., Lagstr\u00f6m, T., Nilsson, M., Sirkka, A., Fagerl\u00f6nn, J., Fredriksson, R., Edgren, C., and Krupenia, S. (2017). Will There Be New Communication Needs When Introducing Automated Vehicles to the Urban Context?. Advances in Human Aspects of Transportation, Springer.","DOI":"10.1007\/978-3-319-41682-3_41"},{"key":"ref_6","unstructured":"Zhao, Y. (2017). Research of Pedestrian Crossing Operation Mechanism Based on Temporal-Spatial Information. [Ph.D. Thesis, Jilin University]."},{"key":"ref_7","doi-asserted-by":"crossref","first-page":"650","DOI":"10.1007\/978-3-319-60441-1_63","article-title":"Evaluation of an Autonomous Vehicle External Communication System Concept: A Survey Study","volume":"597","author":"Zhang","year":"2017","journal-title":"Adv. Hum. Asp. Transp."},{"key":"ref_8","unstructured":"Committee, O.-R.A.D. (2021). Taxonomy and Definitions for Terms Related to Driving Automation Systems for On-Road Motor Vehicles, SAE International."},{"key":"ref_9","doi-asserted-by":"crossref","unstructured":"F\u00e4rber, B. (2016). Communication and Communication Problems Between Autonomous Vehicles and Human Drivers. Autonomous Driving, Springer.","DOI":"10.1007\/978-3-662-48847-8_7"},{"key":"ref_10","unstructured":"\u0160ucha, M. (2014, January 14\u201317). Road users\u2019 strategies and communication: Driver-pedestrian interaction. Proceedings of the Transport Research Arena (TRA) 5th Conference: Transport Solutions from a to Deployment, Paris, France."},{"key":"ref_11","doi-asserted-by":"crossref","first-page":"272","DOI":"10.1016\/j.apergo.2018.11.002","article-title":"An experimental study to investigate design and assessment criteria: What is important for communication between pedestrians and automated vehicles?","volume":"75","author":"Ackermann","year":"2019","journal-title":"Appl Ergon."},{"key":"ref_12","doi-asserted-by":"crossref","unstructured":"Oliveira, L., Proctor, K., Burns, C.G., and Birrell, S. (2019). Driving Style: How Should an Automated Vehicle Behave?. Information, 10.","DOI":"10.3390\/info10060219"},{"key":"ref_13","unstructured":"Eng, H. (2017). Embracing the Future of Land Transportation\u2014Valuing Flexibility in Design and Technology Options for Autonomous Vehicle Developments in Singapore. [Master\u2019s Thesis, Massachusetts Institute of Technology]."},{"key":"ref_14","doi-asserted-by":"crossref","first-page":"69","DOI":"10.1007\/s10111-018-0521-z","article-title":"Designing the interaction of automated vehicles with other traffic participants: Design considerations based on human needs and expectations","volume":"21","author":"Schieben","year":"2019","journal-title":"Cogn. Technol. Work"},{"key":"ref_15","doi-asserted-by":"crossref","unstructured":"Habibovic, A., Andersson, J., Lundgren, V.M., Klingeg\u00e5rd, M., Englund, C., and Larsson, S. (2019). External vehicle interfaces for communication with other road users?. Road Vehicle Automation 5, Springer.","DOI":"10.1007\/978-3-319-94896-6_9"},{"key":"ref_16","doi-asserted-by":"crossref","first-page":"757","DOI":"10.1016\/j.trf.2019.03.006","article-title":"Deceleration parameters and their applicability as informal communication signal between pedestrians and automated vehicles","volume":"62","author":"Ackermann","year":"2019","journal-title":"Transp. Res. Part F Traffic Psychol. Behav."},{"key":"ref_17","doi-asserted-by":"crossref","first-page":"175","DOI":"10.1016\/j.trf.2020.03.004","article-title":"After you?!\u2014Use of external human-machine interfaces in road bottleneck scenarios","volume":"70","author":"Rettenmaier","year":"2020","journal-title":"Transp. Res. Part F Traffic Psychol. Behav."},{"key":"ref_18","doi-asserted-by":"crossref","unstructured":"Rothenb\u00fccher, D., Li, J., Sirkin, D., Mok, B., and Ju, W. (2016, January 26\u201331). Ghost driver: A field study investigating the interaction between pedestrians and driverless vehicles. Proceedings of the 25th IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN), New York, NY, USA.","DOI":"10.1109\/ROMAN.2016.7745210"},{"key":"ref_19","doi-asserted-by":"crossref","unstructured":"Chang, C.-M., Toda, K., Sakamoto, D., and Igarashi, T. (2017, January 24\u201327). Eyes on a Car. Proceedings of the 9th International Conference on Automotive User Interfaces and Interactive Vehicular Applications, Oldenburg, Germany.","DOI":"10.1145\/3122986.3122989"},{"key":"ref_20","doi-asserted-by":"crossref","unstructured":"B\u00f6ckle, M.-P., Brenden, A.P., Klingeg\u00e5rd, M., Habibovic, A., and Bout, M. (2017, January 24\u201327). SAV2P\u2013Exploring the impact of an interface for shared automated vehicles on pedestrians\u2019 experience. Proceedings of the 9th International Conference on Automotive User Interfaces and Interactive Vehicular Applications Adjunct, Oldenburg, Germany.","DOI":"10.1145\/3131726.3131765"},{"key":"ref_21","first-page":"100293","article-title":"Vulnerable road users and the coming wave of automated vehicles: Expert perspectives","volume":"9","author":"Tabone","year":"2021","journal-title":"Transp. Res. Interdiscip. Perspect."},{"key":"ref_22","doi-asserted-by":"crossref","unstructured":"Moore, D., Currano, R., Strack, G.E., and Sirkin, D. (2019, January 21\u201325). The case for implicit external human-machine interfaces for autonomous vehicles. Proceedings of the 11th International Conference on Automotive User Interfaces and Interactive Vehicular Applications, New York, NY, USA.","DOI":"10.1145\/3342197.3345320"},{"key":"ref_23","doi-asserted-by":"crossref","unstructured":"Dey, D., and Terken, J. (2017, January 24\u201327). Pedestrian interaction with vehicles: Roles of explicit and implicit communication. Proceedings of the 9th International Conference on Automotive User Interfaces and Interactive Vehicular Applications, Oldenburg, Germany.","DOI":"10.1145\/3122986.3123009"},{"key":"ref_24","unstructured":"Clamann, M., Aubert, M., and Cummings, M.L. (, January 8\u2013January). Evaluation of vehicle-to-pedestrian communication displays for autonomous vehicles. Proceedings of the 96th Annual Transportation Research Board Meeting, Washington, DC, USA."},{"key":"ref_25","unstructured":"Lex Fridman, B.M., Xia, L., and Yang, Y. (2019, January 13\u201317). Laura Yvonne Facusse, Bryan Reimer, to Walk or Not to Walk Crowdsourced Assessment of External Vehicle-to-pedestrian Displays. Proceedings of the Transportation Research Board 98th Annual Meeting, Washington, DC, USA."},{"key":"ref_26","doi-asserted-by":"crossref","first-page":"191","DOI":"10.1016\/j.trf.2019.07.027","article-title":"Pedestrian road-crossing willingness as a function of vehicle automation, external appearance, and driving behaviour","volume":"65","author":"Dey","year":"2019","journal-title":"Transp. Res. Part F Traffic Psychol. Behav."},{"key":"ref_27","doi-asserted-by":"crossref","unstructured":"Currano, R., Park, S.Y., Domingo, L., Garcia-Mancilla, J., Santana-Mancilla, P.C., Gonzalez, V.M., and Ju, W. (2018, January 23\u201325). \u00a1Vamos! Observations of pedestrian interactions with driverless cars in Mexico. Proceedings of the 10th International Conference on Automotive User Interfaces and Interactive Vehicular Applications, New York, NY, USA.","DOI":"10.1145\/3239060.3241680"},{"key":"ref_28","doi-asserted-by":"crossref","unstructured":"Fuest, T., Michalowski, L., Schmidt, E., and Bengler, K. (2019, January 27\u201330). Reproducibility of Driving Profiles\u2013Application of the Wizard of Oz Method for Vehicle Pedestrian Interaction. Proceedings of the 2019 IEEE Intelligent Transportation Systems Conference (ITSC), Auckland, New Zealand.","DOI":"10.1109\/ITSC.2019.8917395"},{"key":"ref_29","doi-asserted-by":"crossref","first-page":"10","DOI":"10.1016\/j.trf.2020.12.005","article-title":"Pedestrian interaction with automated vehicles at uncontrolled intersections","volume":"77","author":"Wang","year":"2021","journal-title":"Transp. Res. Part F Traffic Psychol. Behav."},{"key":"ref_30","doi-asserted-by":"crossref","first-page":"101","DOI":"10.1016\/j.trf.2020.01.014","article-title":"Pedestrians\u2019 road crossing behaviour in front of automated vehicles: Results from a pedestrian simulation experiment using agent-based modelling","volume":"69","author":"Rad","year":"2020","journal-title":"Transp. Res. Part F Traffic Psychol. Behav."},{"key":"ref_31","doi-asserted-by":"crossref","first-page":"171","DOI":"10.1016\/j.trf.2019.12.009","article-title":"External HMI for self-driving vehicles: Which information shall be displayed?","volume":"68","author":"Faas","year":"2020","journal-title":"Transp. Res. Part F Traffic Psychol. Behav."},{"key":"ref_32","unstructured":"Faas, S.M., Kraus, J., Schoenhals, A., and Baumann, M. (2021, January 8\u201313). Calibrating Pedestrians\u2019 Trust in Automated Vehicles: Does an Intent Display in an External HMI Support Trust Calibration and Safe Crossing Behavior?. Proceedings of the 2021 CHI Conference on Human Factors in Computing Systems, Yokohama, Japan."},{"key":"ref_33","doi-asserted-by":"crossref","first-page":"30","DOI":"10.1016\/j.trf.2021.01.013","article-title":"External human-machine interfaces: Effects of message perspective","volume":"78","author":"Eisma","year":"2021","journal-title":"Transp. Res. Part F Traffic Psychol. Behav."},{"key":"ref_34","first-page":"100174","article-title":"Taming the eHMI jungle: A classification taxonomy to guide, compare, and assess the design principles of automated vehicles\u2019 external human-machine interfaces","volume":"7","author":"Dey","year":"2020","journal-title":"Transp. Res. Interdiscip. Perspect."},{"key":"ref_35","doi-asserted-by":"crossref","first-page":"1353","DOI":"10.1177\/0018720819836343","article-title":"External Human-Machine Interfaces on Automated Vehicles: Effects on Pedestrian Crossing Decisions","volume":"61","author":"Dietrich","year":"2019","journal-title":"Hum. Factors"},{"key":"ref_36","doi-asserted-by":"crossref","first-page":"175","DOI":"10.1016\/j.trf.2019.10.013","article-title":"Survey on eHMI concepts: The effect of text, color, and perspective","volume":"67","author":"Bazilinskyy","year":"2019","journal-title":"Transp. Res. Part F Traffic Psychol. Behav."},{"key":"ref_37","doi-asserted-by":"crossref","unstructured":"Bazilinskyy, P., Dodou, D., and de Winter, J. (2020, January 11\u201314). External human-machine interfaces: Which of 729 colors is best for signaling \u2018Please (do not) cross\u2019?. Proceedings of the 2020 IEEE International Conference on Systems, Man and Cybernetics (SMC), Toronto, ON, Canada.","DOI":"10.1109\/SMC42975.2020.9282998"},{"key":"ref_38","doi-asserted-by":"crossref","first-page":"343","DOI":"10.1093\/jpepsy\/jsl009","article-title":"The influences of demographics and individual differences on children\u2019s selection of risky pedestrian routes","volume":"32","author":"Barton","year":"2006","journal-title":"J. Pediatric Psychol."},{"key":"ref_39","doi-asserted-by":"crossref","first-page":"18","DOI":"10.1016\/j.aap.2017.09.019","article-title":"Driver compliance to take-over requests with different auditory outputs in conditional automation","volume":"109","author":"Forster","year":"2017","journal-title":"Accid. Anal. Prev."},{"key":"ref_40","unstructured":"Lagstrom, T., and Lundgren, V.M. (2015). AVIP\u2014Autonomous Vehicles Interaction with Pedestrians. [Master\u2019s Thesis, Chalmers University Oftechnology]."},{"key":"ref_41","doi-asserted-by":"crossref","unstructured":"Eisma, Y.B., van Bergen, S., ter Brake, S.M., Hensen, M.T.T., Tempelaar, W.J., and de Winter, J.C.F. (2019). External Human\u2013Machine Interfaces: The Effect of Display Location on Crossing Intentions and Eye Movements. Information, 11.","DOI":"10.3390\/info11010013"},{"key":"ref_42","doi-asserted-by":"crossref","unstructured":"Kr\u00f6mker, H. (2019). Crossing the Street Across the Globe: A Study on the Effects of eHMI on Pedestrians in the US, Germany and China. HCI in Mobility, Transport, and Automotive Systems, Springer International Publishing.","DOI":"10.1007\/978-3-030-22666-4"},{"key":"ref_43","doi-asserted-by":"crossref","first-page":"104814","DOI":"10.1016\/j.ssci.2020.104814","article-title":"Non-conscious errors in the control of dynamic events synchronized with heartbeats: A new challenge for human reliability study","volume":"129","author":"Vanderhaegen","year":"2020","journal-title":"Saf. Sci."}],"container-title":["Sensors"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.mdpi.com\/1424-8220\/22\/9\/3339\/pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,10,10]],"date-time":"2025-10-10T23:01:52Z","timestamp":1760137312000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.mdpi.com\/1424-8220\/22\/9\/3339"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2022,4,27]]},"references-count":43,"journal-issue":{"issue":"9","published-online":{"date-parts":[[2022,5]]}},"alternative-id":["s22093339"],"URL":"https:\/\/doi.org\/10.3390\/s22093339","relation":{},"ISSN":["1424-8220"],"issn-type":[{"value":"1424-8220","type":"electronic"}],"subject":[],"published":{"date-parts":[[2022,4,27]]}}}