This study investigates how pedestrian trust, receptivity, and behavior evolve during interactions with Level-4 autonomous vehicles (AVs) at uncontrolled urban intersections in a naturalistic setting. While public acceptance is critical for AV adoption, most prior studies relied on simplified simulations or field tests. We conducted a real-world experiment in a commercial Robotaxi operation zone, where 33 participants repeatedly crossed an uncontrolled intersection with frequent Level-4 Robotaxi traffic. Participants completed the Pedestrian Behavior Questionnaire (PBQ), Pedestrian Receptivity Questionnaire for Fully AVs (PRQF), pre- and post-experiment Trust in AVs Scale, and Personal Innovativeness Scale (PIS). Results showed that trust in AVs significantly increased post-experiment, with the increase positively associated with the Interaction component of PRQF. Additionally, both the Positive and Error subscales of the PBQ significantly influenced trust change. This study reveals how trust forms in real-world pedestrian-AV encounters, offering insights beyond lab-based research by accounting for population heterogeneity.

翻译：本研究探讨了在自然环境中，行人与L4级自动驾驶汽车在无信号控制的城市交叉路口交互过程中，信任度、接受度和行为的演变。尽管公众接受度对自动驾驶汽车的普及至关重要，但先前大多数研究依赖于简化的模拟或现场测试。我们在一个商业Robotaxi运营区进行了真实世界实验，33名参与者在一个L4级Robotaxi频繁通行的无信号控制交叉路口反复横穿马路。参与者完成了行人行为问卷、面向全自动驾驶汽车的行人接受度问卷、实验前后对自动驾驶汽车的信任度量表以及个人创新性量表。结果显示，实验后对自动驾驶汽车的信任度显著增加，且该增加与行人接受度问卷中的交互成分呈正相关。此外，行人行为问卷的积极子量表和错误子量表均对信任变化有显著影响。本研究揭示了真实世界行人与自动驾驶汽车交互中信任的形成机制，通过考虑人群异质性，提供了超越实验室研究的见解。