This study presents the outcomes of empirical investigations pertaining to human-vehicle interactions involving an autonomous vehicle equipped with both internal and external Human Machine Interfaces (HMIs) within a crosswalk scenario. The internal and external HMIs were integrated with implicit communication techniques, incorporating a combination of gentle and aggressive braking maneuvers within the crosswalk. Data were collected through a combination of questionnaires and quantifiable metrics, including pedestrian decision to cross related to the vehicle distance and speed. The questionnaire responses reveal that pedestrians experience enhanced safety perceptions when the external HMI and gentle braking maneuvers are used in tandem. In contrast, the measured variables demonstrate that the external HMI proves effective when complemented by the gentle braking maneuver. Furthermore, the questionnaire results highlight that the internal HMI enhances passenger confidence only when paired with the aggressive braking maneuver.

翻译：本研究呈现了在包含内部和外部人机界面（HMI）的自动驾驶车辆与人进行交互的实地调查结果，场景设于人行横道。内部及外部HMI结合了隐性通信技术，在人行横道内采用了缓和与激进两种制动策略的组合。通过问卷调查及可量化指标（包括行人与车辆距离及速度相关的横穿决策）收集数据。问卷反馈显示，当外部HMI与缓和制动策略联合使用时，行人感知到的安全性增强。相比之下，实测变量表明，外部HMI仅在缓和制动策略的辅助下才有效。此外，问卷调查结果强调，内部HMI仅在搭配激进制动策略时才能提升乘客的乘坐信心。