In recent years, researchers and manufacturers have started to investigate ways to enable autonomous vehicles (AVs) to interact with nearby pedestrians in compensation for the absence of human drivers. The majority of these efforts focuses on external human-machine interfaces (eHMIs), using different modalities, such as light patterns or on-road projections, to communicate the AV's intent and awareness. In this paper, we investigate the potential role of affective interfaces to convey emotions via eHMIs. To date, little is known about the role that affective interfaces can play in supporting AV-pedestrian interaction. However, emotions have been employed in many smaller social robots, from domestic companions to outdoor aerial robots in the form of drones. To develop a foundation for affective AV-pedestrian interfaces, we reviewed the emotional expressions of non-humanoid robots in 25 articles published between 2011 and 2021. Based on findings from the review, we present a set of considerations for designing affective AV-pedestrian interfaces and highlight avenues for investigating these opportunities in future studies.

翻译：近年来，研究人员与制造商开始探索如何使自动驾驶车辆（AVs）在缺少人类驾驶员的情况下与周边行人进行交互。现有研究主要聚焦于外部人机界面（eHMIs），通过灯光模式、路面投影等不同模态传递自动驾驶车辆的意图与感知状态。本文探讨情感界面通过eHMIs传递情感的潜在作用。目前，关于情感界面在支持自动驾驶车辆与行人交互中的具体功能仍知之甚少。然而，从家用陪伴型机器人到户外飞行无人机等各类小型社交机器人中，情感已得到广泛应用。为建立面向自动驾驶车辆-行人交互的情感界面理论基础，我们系统梳理了2011年至2021年间发表的25篇非人形机器人情感表达相关文献。基于综述发现，我们提出设计情感型自动驾驶车辆-行人界面的若干考量，并指出未来研究中值得深入探索的方向。