Towards Scalable eHMIs: Designing for AV-VRU Communication Beyond One Pedestrian

Current research on external Human-Machine Interfaces (eHMIs) in facilitating interactions between automated vehicles (AVs) and pedestrians have largely focused on one-to-one encounters. In order for eHMIs to be viable in reality, they need to be scalable, i.e., facilitate interaction with more than one pedestrian with clarity and unambiguity. We conducted a virtual-reality-based empirical study to evaluate four eHMI designs with two pedestrians. Results show that even in this minimum criteria of scalability, traditional eHMI designs struggle to communicate effectively whom the AV intends to yield to. Road-projection-based eHMIs show promise in clarifying the specific yielding intention of an AV, although it may still not be an ideal solution. The findings point towards the need to consider the element of scalability early in the design process, and potentially the need to reconsider the current paradigm of eHMI design.