Shared space reduces segregation between vehicles and pedestrians and encourages them to share roads without imposed traffic rules. The behaviour of road users (RUs) is then controlled by social norms, and interactions are more versatile than on traditional roads. Autonomous vehicles (AVs) will need to adapt to these norms to become socially acceptable RUs in shared spaces. However, to date, there is not much research into pedestrian-vehicle interaction in shared-space environments, and prior efforts have predominantly focused on traditional roads and crossing scenarios. We present a video observation investigating pedestrian reactions to a small, automation-capable vehicle driven manually in shared spaces based on a long-term naturalistic driving dataset. We report various pedestrian reactions (from movement adjustment to prosocial behaviour) and situations pertinent to shared spaces at this early stage. Insights drawn can serve as a foundation to support future AVs navigating shared spaces, especially those with a high pedestrian focus.

翻译：共享空间减少了车辆与行人之间的分隔，鼓励他们在没有强制交通规则的情况下共享道路。道路使用者的行为受社会规范支配，其交互方式比传统道路更加多样化。自动驾驶汽车需要适应这些规范，才能在共享空间中成为被社会接受的道路使用者。然而，迄今为止，针对共享空间环境中行人与车辆交互的研究尚不充分，且已有研究主要集中在传统道路和过街场景。本文基于长期自然驾驶数据集，通过视频观测的方法，研究行人对一辆由人工驾驶但具备自动化能力的小型车辆在共享空间中的反应。我们报告了在这一早期阶段观测到的各类行人反应（从移动调整到亲社会行为），以及与共享空间相关的典型情境。所得见解可作为未来自动驾驶汽车（尤其是高度行人密集环境下的自动驾驶汽车）在共享空间中导航的基础支撑。