vru facing ehmi

External human-machine interfaces aimed at vulnerable road users: vehicle-mounted displays, lights, or signals that tell pedestrians and cyclists when it is safe to cross or convey an automated vehicle's intent and yielding decision. This is specifically the VRU-facing side of eHMI (the general eHMI tag lives elsewhere). It concerns engineered signaling hardware and its messages, distinct from informal human negotiation between drivers and VRUs (driver_vru_interaction) and from the VRU's own perception (pedestrian_behavior_perception).

661 paper(s) · ranked by relevance to this topic

1. External Human–Machine Interfaces for Autonomous Vehicle-to-Pedestrian Communication: A Review of Empirical Work · 2019 · Rouchitsas, Alexandros et al. · archived
2. External Human-Machine Interfaces on Automated Vehicles: Effects on Pedestrian Crossing Decisions · 2019 · de Clercq, Koen et al. · archived
3. External HMI for self-driving vehicles: Which information shall be displayed? ↗ · 2020 · Faas, Stefanie M. et al. · indexed
4. External Human–Machine Interfaces for Automated Vehicles in Shared Spaces: A Review of the Human–Computer Interaction Literature · 2023 · Brill, Sarah et al. · archived
5. Evaluation of external HMI in autonomous vehicles based on pedestrian road crossing decision-making model ↗ · 2021 · JIANG, Qianni et al. · indexed
6. Equipping Vehicles with Novel eHMIs Potentially Changes How Pedestrians Interact with Vehicles Without eHMIs ↗ · 2023 · Eisele, Daniel et al. · indexed
7. Effects of a light-based communication approach as an external HMI for Automated Vehicles - a Wizard-of-Oz Study ↗ · 2020 · Hensch, Ann-Christin et al. · indexed
8. Pedestrian Carelessness toward Traffic Environment Due to External Human–Machine Interfaces of Automated Vehicles ↗ · 2021 · Daimon, Tatsuru et al. · indexed
9. Understanding the Messages Conveyed by Automated Vehicles ↗ · 2019 · Lee, Yee Mun et al. · indexed
10. Investigating the Need for Explicit Communication of Non-Yielding Intent through a Slow-Pulsing Light Band (SPLB) eHMI in AV-Pedestrian Interaction ↗ · 2022 · Dey, Debargha et al. · indexed
11. Principles for External Human–Machine Interfaces · 2023 · Wilbrink, Marc et al. · archived
12. External human–machine interfaces: Gimmick or necessity? ↗ · 2022 · de Winter, Joost et al. · indexed
13. eHMI for All -- Investigating the Effect of External Communication of Automated Vehicles on Pedestrians, Manual Drivers, and Cyclists in Virtual Reality · 2026 · Colley, Mark et al. · archived
14. Impact of External Human–Machine Interface Communication Strategies of Automated Vehicles on Pedestrians’ Crossing Decisions and Behaviors in an Urban Environment ↗ · 2021 · Wilbrink, Marc et al. · indexed
15. How should external human-machine interfaces behave? Examining the effects of colour, position, message, activation distance, vehicle yielding, and visual distraction among 1,434 participants ↗ · 2021 · Bazilinskyy, P. et al. · indexed
16. Assessment of external interface of autonomous vehicles · 2021 · Orlický, Adam et al. · archived
17. Get Out of The Way! Examining eHMIs in Critical Driver-Pedestrian Encounters in a Coupled Simulator ↗ · 2022 · Bazilinskyy, Pavlo et al. · indexed
18. Towards Scalable eHMIs: Designing for AV-VRU Communication Beyond One Pedestrian ↗ · 2021 · Dey, Debargha et al. · indexed
19. Pedestrian Decision-Making Responses to External Human-Machine Interface Designs for Autonomous Vehicles ↗ · 2019 · Burns, Christopher G. et al. · indexed
20. Hello, is it me you’re Stopping for? The Effect of external Human Machine Interface Familiarity on Pedestrians’ Crossing Behaviour in an Ambiguous Situation ↗ · 2024 · Lee, Yee Mun et al. · indexed
21. Pedestrian interaction with multiple highly automated vehicles: Effects of LED- and augmented reality eHMIs · 2026 · Wilbrink, Marc et al. · archived
22. Exploring External Human Machine Interface Design for Autonomous Vehicle to Pedestrian Communication: Insights from Discussions and Drawing Sessions ↗ · 2024 · Alhawiti, Ali et al. · indexed
23. Communicating the intention of an automated vehicle to pedestrians: The contributions of eHMI and vehicle behavior ↗ · 2020 · Dey, Debargha et al. · indexed
24. How Do eHMIs Affect Pedestrians’ Crossing Behavior? A Study Using a Head-Mounted Display Combined with a Motion Suit ↗ · 2019 · Kooijman, Lars et al. · indexed
25. Understanding the Headless Rider: Display-Based Awareness and Intent-Communication in Automated Vehicle-Pedestrian Interaction in Mixed Traffic ↗ · 2021 · Forke, Julia et al. · indexed
26. The Case for Implicit External Human-Machine Interfaces for Autonomous Vehicles ↗ · 2019 · Moore, Dylan et al. · indexed
27. Comparison of External Human–Machine Interfaces for Presenting the Intention to Yield from an Automated Vehicle to a Driver ↗ · 2025 · Saeki, Hidehiro et al. · indexed
28. Allusion 2: External Communication for SAE L4 Vehicles · 2023 · Rossi-Alvarez, Alexandria I et al. · archived
29. Multi-Modal eHMIs: The Relative Impact of Light and Sound in AV-Pedestrian Interaction ↗ · 2024 · Dey, Debargha et al. · indexed
30. Exploration of Factors Impacting the Successful Adoption of External Vehicle Interfaces · 2019 · Reimer, Bryan · archived
31. Distance-Dependent eHMIs for the Interaction Between Automated Vehicles and Pedestrians ↗ · 2020 · Dey, Debargha et al. · indexed
32. Designing for Projection-based Communication between Autonomous Vehicles and Pedestrians · 2019 · Nguyen, Trung Thanh et al. · archived
33. External Human-Machine-Interfaces on Automated Vehicles: Which message and perspective do pedestrians in crossing situations understand best? ↗ · 2022 · Ludwig Weiß, Sebastian et al. · indexed
34. Running into Traffic: Investigating External Human-Machine Interfaces for Automated Vehicle-Runner Interaction ↗ · 2026 · Al-Taie, Ammar et al. · indexed
35. Learning to interpret novel eHMI: The effect of vehicle kinematics and eHMI familiarity on pedestrian’ crossing behavior ↗ · 2022 · Lee, Yee Mun et al. · indexed
36. Editorial: Interaction between automated vehicles and other road users · 2023 · Wintersberger, Philipp et al. · archived
37. How to improve pedestrians' trust in automated vehicles: new road infrastructure, external human–machine interface with anthropomorphism, or conventional road signaling? · 2023 · Bonneviot, Flavie et al. · archived
38. One Solution Fits All? Evaluating Different Communication Strategies of a Light-based External Human-Machine Interface for Differently Sized Automated Vehicles from a Pedestrian’s Perspective ↗ · 2022 · Lau, Merle et al. · indexed
39. Learning to interpret novel eHMI: The effect of vehicle kinematics and eHMI familiarity on pedestrians' crossing behaviour ↗ · 2020 · Lee, Yee Mun et al. · indexed
40. Communicating Intent of Automated Vehicles to Pedestrians · 2018 · Habibovic, Azra et al. · archived
41. Toward a Holistic Communication Approach to an Automated Vehicle's Communication With Pedestrians: Combining Vehicle Kinematics With External Human-Machine Interfaces for Differently Sized Automated Vehicles ↗ · 2022 · Lau, Merle et al. · indexed
42. Pedestrians’ perceptions of automated vehicle movements and light-based eHMIs in real world conditions: A test track study ↗ · 2021 · Carlowitz, Stefanie et al. · indexed
43. Pedestrians’ perceptions of automated vehicle movements and light-based eHMIs in real world conditions: A test track study ↗ · 2023 · Carlowitz, Stefanie et al. · indexed
44. The Effects of Explicit Intention Communication, Conspicuous Sensors, and Pedestrian Attitude in Interactions with Automated Vehicles ↗ · 2020 · Ackermans, Sander et al. · indexed
45. An experimental study to investigate design and assessment criteria: What is important for communication between pedestrians and automated vehicles? ↗ · 2019 · Ackermann, Claudia et al. · indexed
46. Pedestrian interactions with Automated Vehicles: does the presence of a zebra crossing affect how eHMIs and movement patterns are interpreted? ↗ · 2022 · Madigan, Ruth et al. · indexed
47. Light-Based External Human Machine Interface: Color Evaluation for Self-Driving Vehicle and Pedestrian Interaction · 2019 · Faas, Stefanie M. et al. · archived
48. Matching vs. Mismatching Signals of External Human-Machine Interface and Vehicle Kinematics: An Examination of Pedestrian Crossing Behavior and Trust, Safety, and Affective Ratings in Interactions with Differently Sized Automated Vehicles ↗ · 2024 · Lau, Merle et al. · indexed
49. Multiple Sources of Safety Information from V2V and V2I: Phase II Final Safety Message Report · 2022 · Hoekstra-Atwood, Liberty et al. · archived
50. Ghost on the Windshield: Employing a Virtual Human Character to Communicate Pedestrian Acknowledgement and Vehicle Intention · 2022 · Rouchitsas, Alexandros et al. · archived
51. Communicating Awareness and Intent in Autonomous Vehicle-Pedestrian Interaction ↗ · 2018 · Mahadevan, Karthik et al. · indexed
52. Increasing Pedestrian Safety Using External Communication of Autonomous Vehicles for Signalling Hazards ↗ · 2021 · Colley, Mark et al. · indexed
53. Hello, is it me you’re stopping for? The effect of eHMI familiarity on pedestrians’ crossing behaviour in an ambiguous situation ↗ · 2023 · Lee, Yee Mun et al. · indexed
54. A Video-Based, Eye-Tracking Study to Investigate the Effect of eHMI Modalities and Locations on Pedestrian–Automated Vehicle Interaction ↗ · 2022 · Guo, Fu et al. · indexed
55. Color and Animation Preferences for a Light Band eHMI in Interactions Between Automated Vehicles and Pedestrians · 2020 · Dey, Debargha et al. · archived
56. Automated Driving Systems’ Communication of Intent with Shared Road Users · 2021 · Jenness, James et al. · archived
57. Interface Concepts for Intent Communication from Autonomous Vehicles to Vulnerable Road Users ↗ · 2018 · Dey, Debargha et al. · indexed
58. Bio-inspired intent communication for automated vehicles ↗ · 2021 · Oudshoorn, Max et al. · indexed
59. What externally presented information do VRUs require when interacting with fully Automated Road Transport Systems in shared space? · 2018 · Merat, Natasha et al. · archived
60. Should an external human-machine interface flash or just show text? A study with a gaze-contingent setup ↗ · 2023 · Eisma, Yke Bauke et al. · indexed
61. Importance of Instruction for Pedestrian-Automated Driving Vehicle Interaction with an External Human Machine Interface: Effects on Pedestrians' Situation Awareness, Trust, Perceived Risks and Decision Making ↗ · 2021 · Liu, Hailong et al. · indexed
62. Assessing the Impact of Risk-Warning eHMI Information Content on Pedestrian Mental Workload, Situation Awareness, and Gap Acceptance in Full and Partial eHMI Penetration Vehicle Platoons ↗ · 2025 · Yang, Fang et al. · indexed
63. External communication of automated shuttles: Results, experiences, and lessons learned from three European long-term research projects · 2022 · Mirnig, Alexander G. et al. · archived
64. How Should Automated Vehicles Interact with Pedestrians? ↗ · 2019 · Löcken, Andreas et al. · indexed
65. Autonomous Vehicle-Pedestrian Interaction Across Cultures: Towards Designing Better External Human Machine Interfaces (eHMIs) ↗ · 2020 · Ranasinghe, Champika et al. · indexed
66. Take It to the Curb: Scalable Communication Between Autonomous Cars and Vulnerable Road Users Through Curbstone Displays ↗ · 2022 · Holländer, Kai et al. · indexed
67. A Systematic Review on Design Space of External Human-Machine Interface for Autonomous Vehicle ↗ · 2020 · Lee, Seul Chan · indexed
68. Taming the eHMI jungle: A classification taxonomy to guide, compare, and assess the design principles of automated vehicles' external human-machine interfaces ↗ · 2020 · Dey, Debargha et al. · indexed
69. Response of Vulnerable Road Users to Visual Information from Autonomous Vehicles in Shared Spaces · 2019 · Alvarez, Walter Morales et al. · archived
70. Self-Driving Vehicles and Pedestrian Interaction: Does an External Human-Machine Interface Mitigate the Threat of a Tinted Windshield or a Distracted Driver? ↗ · 2021 · Faas, Stefanie M. et al. · indexed
71. Investigating Pedestrians' Crossing Behaviour During Car Deceleration Using Wireless Head Mounted Display: An Application Towards the Evaluation of eHMI of Automated Vehicles ↗ · 2019 · Lee, Yee Mun et al. · indexed
72. Stop or Go? Let me Know! ↗ · 2021 · Mirnig, Alexander G. et al. · indexed
73. Investigating Implicit and Explicit Communication of Highly Automated Vehicles in Japan: How do Light-band eHMIs affect Pedestrians’ Willingness to Cross, Trust and Perceived Safety? ↗ · 2024 · Lau, Merle et al. · indexed
74. Coordinating Internal and External HMIs for Cooperative Driver-Pedestrian SituationResolution ↗ · 2026 · Amann, Markus et al. · indexed
75. How Communicating Features can Help Pedestrian Safety in the Presence of Self-Driving Vehicles: Virtual Reality Experiment ↗ · 2020 · Deb, Shuchisnigdha et al. · indexed
76. Effect of eHMI-equipped automated vehicles on pedestrian crossing behavior and safety: A focus on blind spot scenarios ↗ · 2025 · Chen, Xu et al. · indexed
77. On face value: a ghost driver field study investigating interactions between pedestrians and a driverless vehicle with anthropomorphic displays ↗ · 2025 · Large, David R. et al. · indexed
78. Pedestrian-AV interactions at unmarked midblock: Effects of eHMI onset timing and vehicle kinematics ↗ · 2026 · Gao, Ya et al. · indexed
79. Should automated vehicles communicate their state or intent? Effects of eHMI activations and non-activations on pedestrians’ trust formation and crossing behavior ↗ · 2024 · Eisele, Daniel et al. · indexed
80. Augmented reality for supporting the interaction between pedestrians and automated vehicles: an experimental outdoor study · 2024 · Aleva, Thomas K. et al. · archived
81. Express What I Think: The Impact of External Human-Machine Interfaces on the Performance of Lane Change Maneuvers · 2025 · Li, Ruolan et al. · archived
82. Crowdsourced Assessment of 227 Text-Based eHMIs for a Crossing Scenario · 2022 · Bazilinskyy, Pavlo et al. · archived
83. Impact of eHMI on Pedestrians’ Interactions with Level-5 Automated Driving Systems ↗ · 2025 · Marcus, Viktoria et al. · indexed
84. External HMI for Automated Vehicles: Adding a Communication Perspective for all Road Users ↗ · 2022 · Gao, Ruolin et al. · indexed
85. Pedestrians’ perceptions, fixations, and decisions towards automated vehicles with varied appearances ↗ · 2024 · Lyu, Wei et al. · indexed
86. Ensuring Cooperative Driving Automation (CDA) and Vulnerable Road Users (VRUs) Safety Through Infrastructure · 2022 · Weaver, Starla et al. · archived
87. Beyond Deceleration: Effects of Inconsistency between Implicit Autonomous Vehicle Cues and Explicit eHMI Cues on Pedestrians’ Street-Crossing Decisions ↗ · 2026 · Dudley, LeGrand et al. · indexed
88. Effects of Exterior Lighting System of Parked Vehicles on the Behaviors of Cyclists ↗ · 2021 · Yang, Bo et al. · indexed
89. Effects of a frontal brake light on pedestrians’ willingness to cross the street ↗ · 2024 · Eisele, Daniel et al. · indexed
90. Human Factors Guidance for Intelligent Transportation Systems at the Highway-Rail Intersection · 2006 · Jenness, James W. et al. · archived
91. Pedestrians’ Interaction with eHMI-equipped Autonomous Vehicles: A Bibliometric Analysis and Systematic Review ↗ · 2025 · Man, Siu Shing et al. · indexed
92. External Human–Machine Interfaces of Autonomous Vehicles: Insights from Observations on the Behavior of Game Players Driving Conventional Cars in Mixed Traffic ↗ · 2024 · Lim, Dokshin et al. · indexed
93. Quantitative study of vehicle-pedestrian interactions: Towards pedestrian-adapted lighting communication functions for autonomous vehicles · 2021 · Zang, Guoqin et al. · archived
94. Investigating User Requirements for Communication Between Automated Vehicles and Vulnerable Road Users ↗ · 2019 · Locken, Andreas et al. · indexed
95. I See Your Gesture: A VR-Based Study of Bidirectional Communication between Pedestrians and Automated Vehicles ↗ · 2021 · Epke, Michael R. et al. · indexed
96. Communication of Automated Vehicles and Pedestrian Groups: An Intercultural Study on Pedestrians’ Street Crossing Decisions ↗ · 2021 · Joisten, Philip et al. · indexed
97. Crossing in the dark: Investigating the effect of vehicle kinematics and eHMI on older pedestrians’ crossing behavior in a virtual reality experiment ↗ · 2026 · Lee, Yee Mun et al. · indexed
98. Automated vehicle may not adopt fully conservative driving strategies: A game-theoretic framework for pedestrian-vehicle interactions at unsignalized crossing considering external human–machine interfaces ↗ · 2026 · Wang, Jiawen et al. · indexed
99. Augmented reality interfaces for pedestrian-vehicle interactions: An online study ↗ · 2023 · Tabone, Wilbert et al. · indexed
100. Real-World Validation of Dynamic Text-based eHMIs for Pedestrian Interaction with Autonomous Shuttles ↗ · 2025 · Kang, Hyunmin et al. · indexed
101. Pedestrian assessment: Is displaying automated driving mode in self-driving vehicles as relevant as emitting an engine sound in electric vehicles? ↗ · 2021 · Faas, Stefanie M. et al. · indexed
102. Vehicle Automation–Other Road User Communication and Coordination: Theory and Mechanisms · 2020 · Domeyer, Joshua E. et al. · archived
103. Slideo: Bicycle-to-Vehicle Communication to Intuitively Share Intention to Turn with Automated Vehicles · 2024 · Verstegen, Jochem et al. · archived
104. Road users rarely use explicit communication when interacting in today’s traffic: implications for automated vehicles ↗ · 2020 · Lee, Yee Mun et al. · indexed
105. Interpreting pedestrians' head movements when encountering automated vehicles at a virtual crossroad ↗ · 2023 · Yang, Yue et al. · indexed
106. From HMI to HMIs: Towards an HMI Framework for Automated Driving · 2020 · Bengler, Klaus et al. · archived
107. Interpersonal communication and issues for autonomous vehicles. · 2017 · Stanciu, Sergiu C. et al. · archived
108. Pedestrians’ Crossing Decisions While Interacting with Automated Vehicles – Insights from a Longitudinal Study · 2022 · Joisten, Philip et al. · archived
109. The Additional Pedestrian’s Behavior: Crossing the Road in Front of an Automated Vehicle in a Wizard of Oz Setting ↗ · 2025 · Hübner, Maximilian et al. · indexed
110. External Human-machine Interface Design for Automated Vehicles Based on Analytic Hierarchy Process ↗ · 2022 · Yang, Jing et al. · indexed
111. Investigating the Effects of Pedestrian-to-Vehicle Human–Machine Interface Design Using Driving Simulator Experiment ↗ · 2022 · Abdel-Aty, Mohamed et al. · indexed
112. Crossing roads in a social context: How behaviors of others shape pedestrian interaction with automated vehicles ↗ · 2024 · Zhao, Xiaoyuan et al. · indexed
113. Pedestrian and Passenger Interaction with Autonomous Vehicles: Field Study in a Crosswalk Scenario · 2024 · Izquierdo, Rubén et al. · archived
114. User Interfaces for Cyclists in Future Automated Traffic ↗ · 2023 · Berge, Siri Hegna et al. · indexed
115. Human-like Deceleration: Will the role of external Human-Machine Interface change if the Automated Vehicle yields like a human? ↗ · 2025 · Lee, Yee Mun et al. · indexed
116. eHMI on the Vehicle or on the Infrastructure? A Driving Simulator Study ↗ · 2024 · Lingam, Shiva Nischal et al. · indexed
117. Pedestrian Notification Methods in Autonomous Vehicles for Multi-Class Mobility-on-Demand Service ↗ · 2016 · Florentine, Evelyn et al. · indexed
118. Blinking, Beeping or Just Driving? Investigating Different Communication Concepts for an Autonomously Parking E-Cargo Bike from a User Perspective ↗ · 2023 · Kreißig, Isabel et al. · indexed
119. Smiles and Angry Faces vs. Nods and Head Shakes: Facial Expressions at the Service of Autonomous Vehicles · 2023 · Rouchitsas, Alexandros et al. · archived
120. Calibrating Pedestrians' Trust in Automated Vehicles ↗ · 2021 · M. Faas, Stefanie et al. · indexed
121. The Effect of eHMI Malfunctions on Younger and Elderly Pedestrians’ Trust and Acceptance of Automated Vehicle Communication Signals ↗ · 2022 · Hensch, Ann-Christin et al. · indexed
122. Assessment of the Impact of Traffic Signalization on the Behavior of Vulnerable Road Users ↗ · 2026 · Šimunović, Mirjana et al. · indexed
123. Vulnerable Road User Safety Using Mobile Phones with Vehicle-to-VRU Communication ↗ · 2024 · Gelbal, Sukru Yaren et al. · indexed
124. New Approach to Intelligent Pedestrian Detection and Signaling on Crosswalks · 2024 · Sanguino, Tomás de J. Mateo et al. · archived
125. Shape-Changing Interfaces in the Automotive Context: A Taxonomy to Aid the Systematic Development of Intuitive Gesture-Based eHMIs ↗ · 2022 · Dey, Debargha et al. · indexed
126. Standardized Test Procedure for External Human–Machine Interfaces of Automated Vehicles ↗ · 2020 · Kaß, Christina et al. · indexed
127. Communication Strategies for Effective Interaction With Pedestrians and Automated Service Vehicles in Japanese Parking Areas ↗ · 2023 · Lee, Jieun et al. · indexed
128. Effects of Mismatch between Explicit (eHMI) Cues and Perceived Implicit Cues on Street-crossing Decisions ↗ · 2026 · Liu, Hailey et al. · indexed
129. Interpreting pedestrians' head movements when encountering automated vehicles at a virtual crossroad ↗ · 2024 · Yang, Yue et al. · indexed
130. Towards Inclusive External Communication of Autonomous Vehicles for Pedestrians with Vision Impairments ↗ · 2020 · Colley, Mark et al. · indexed
131. Fast Lane - Exploring Human Behavior - Volume 18 · 2023 · NHTSA · archived
132. What Should Automated Vehicles Communicate to Human Drivers? Prioritizing External Human-Machine Interface Information Based on the Four-Sides Model ↗ · 2026 · Zhou, Di et al. · indexed
133. Support systems for cyclists in automated traffic: A review and future outlook ↗ · 2023 · Berge, Siri Hegna et al. · indexed
134. Do cyclists need HMIs in future automated traffic? An interview study ↗ · 2021 · Berge, Siri Hegna et al. · indexed
135. Summary Report on Request for Information (RFI): Enhancing the Safety of Vulnerable Road Users at Intersections · 2023 · Townsend, Haley et al. · archived
136. Multiple Sources of Safety Information from V2V and V2I: Redundancy, Decision Making, and Trust—Safety Message Design Report · 2015 · Richard, Christian M. et al. · archived
137. Gestaltungsdimensionen der Kommunikation von automatisierten Fahrzeugen und anderen Verkehrsteilnehmenden Design dimensions of the communication between automated vehicles and other road users · 2020 · Joisten, Philip et al. · archived
138. Effect of Human–Machine Interface of a Vehicle on Right-Turn Maneuver at Intersections using a Driving Simulator ↗ · 2021 · Kusakari, Yuta et al. · indexed
139. Neuroergonomic evaluation of risk-warning eHMI penetration rates in vehicle platoons: effects on pedestrians' mental workload, situation awareness, and gap acceptance. · 2026 · Yang, F et al. · archived
140. Towards future pedestrian-vehicle interactions: Introducing theoretically-supported AR prototypes ↗ · 2021 · Tabone, Wilbert et al. · indexed
141. Interaction between pedestrians and automated vehicles: Perceived safety of yielding behaviors and benefits of an external human–machine interface for elderly people ↗ · 2022 · Bellet, Thierry et al. · indexed
142. Evaluating Countermeasures to Improve Pedestrian and Bicycle Safety · 2018 · Noyce, David A. et al. · archived
143. Augmented Reality for Safer Pedestrian-Vehicle Interactions · 2018 · Noyce, David A. et al. · archived
144. Exploring Assistance Methods for Communication between Pedestrians and Automated Vehicles: A Need-Driven Study in Japanese Depopulated Areas ↗ · 2022 · Lee, Jieun et al. · indexed
145. Improving Safety of Vulnerable Road Users: Effectiveness of Environment and In-Vehicle Warning Systems at Intermodal Interchanges · 2014 · Carruth, Daniel et al. · archived
146. Robots on the road - Investigating potentials of eHMI-concepts for HRI to tackle critical situations in public spaces ↗ · 2024 · Turriziani, Lea et al. · indexed
147. EEG-based cognitive load assessment of eHMIs in pedestrian-automated vehicle interactions: A real-world experiment ↗ · 2026 · Zhao, Shengnan et al. · indexed
148. Interaction of automated driving systems with pedestrians: challenges, current solutions, and recommendations for eHMIs ↗ · 2021 · Ezzati Amini, Roja et al. · indexed
149. Design, Implementation and Experimental Investigation of a Pedestrian Street Crossing Assistance System Based on Visible Light Communications ↗ · 2022 · Căilean, Alin-Mihai et al. · indexed
150. Formalizing Human Machine Communication in the Context of Autonomous Vehicles · 2020 · Gopalswamy, Swaminathan et al. · archived
151. Proxemics and Kinesics in Automated Vehicle-Pedestrian Communication: Representing Ethnographic Observations ↗ · 2019 · Domeyer, Joshua et al. · indexed
152. Longitudinal Effects of External Communication of Automated Vehicles in the USA and Germany: A Comparative Study in Virtual Reality and Via a Browser ↗ · 2024 · Colley, Mark et al. · indexed
153. An Augmented Warning System for Pedestrians: User Interface Design and Algorithm Development ↗ · 2021 · Tong, Yourui et al. · indexed
154. Vulnerable road users and the coming wave of automated vehicles: Expert perspectives ↗ · 2021 · Tabone, Wilbert et al. · indexed
155. Crossing in the Dark: The Effect of Vehicle Kinematics and eHMI on Older Pedestrians’ Crossing Behaviour ↗ · 2024 · Lee, Yee Mun et al. · indexed
156. Exploring the Impact of Interconnected External Interfaces in Autonomous Vehicles on Pedestrian Safety and Experience ↗ · 2024 · Tran, Tram Thi Minh et al. · indexed
157. Bystander Interactions With Failing Vehicle Autonomy · 2018 · Steinfeld, Aaron et al. · archived
158. I, AV: A Ghost Driver Field Study Exploring the Application of Anthropomorphism in AV-Pedestrian Communication ↗ · 2023 · Large, David R. et al. · indexed
159. Assessment of Pedestrian Safety and Driver Behavior Near an Automated Vehicle · 2024 · Morris, Nichole L. et al. · archived
160. Requirements of a system to reduce car-to-vulnerable road user crashes in urban intersections ↗ · 2011 · Habibovic, Azra et al. · indexed
161. Negotiation and Decision-Making for a Pedestrian Roadway Crossing: A Literature Review · 2019 · Amini, Roja Ezzati et al. · archived
162. Evaluating Autonomous Vehicle External Communication Using a Multi-Pedestrian VR Simulator ↗ · 2024 · Tran, Tram Thi Minh et al. · indexed
163. The flashing right turn signal with pedestrian indication : human factors studies to understand the potential of a new signal to increase awareness of and attention to crossing pedestrians. · 2015 · Boot, Walter et al. · archived
164. Using connected vehicle technology to deliver timely warnings to pedestrians. · 2016 · Kearney, Joseph K. et al. · archived
165. Overtrust in External Cues of Automated Vehicles ↗ · 2019 · Holländer, Kai et al. · indexed
166. Creating informed public acceptance by a user-centered human-machine interface for all automated transport modes · 2022 · Mathis, Lesley-Ann et al. · archived
167. Harnessing Vehicle-to-Pedestrian (V2P) Communication Technology: Sending Traffic Warnings to Texting Pedestrians ↗ · 2018 · Rahimian, Pooya et al. · indexed
168. Fast Lane - Exploring Human Behavior - Volume 21 · 2025 · NHTSA · archived
169. Hacking Nonverbal Communication between Pedestrians and Vehicles in Virtual Reality ↗ · 2019 · Schmidt, Henri et al. · indexed
170. Fast Lane - Exploring Human Behavior - Volume 16 · 2022 · NHTSA · archived
171. How Much Space Is Required? Effect of Distance, Content, and Color on External Human–Machine Interface Size ↗ · 2020 · Rettenmaier, Michael et al. · indexed
172. The Role of Nonverbal Communication in Driver Yielding Behavior: A VR-Based Analysis of Pedestrian–Driver Interactions ↗ · 2026 · Won, Jinho et al. · indexed
173. Evaluation of driver performance with a prototype cyber physical mid-block crossing advanced warning system ↗ · 2021 · Angulo, Austin Valentine et al. · indexed
174. Human Factors Literature Reviews on Intersections, Speed Management, Pedestrians and Bicyclists, and Visibility · 2006 · Kludt, K. et al. · archived
175. Expressive driver-vehicle interface design ↗ · 2011 · Hwang, Jee Yeon et al. · indexed
176. Human-Centered Design for Connected Automation: Predicting Pedestrian Crossing Intentions ↗ · 2026 · Motamedi, Sanaz et al. · indexed
177. Understanding and Using New Pedestrian and Bicycle Facilities · 2022 · Jackson, Steve et al. · archived
178. Enhancing Vulnerable Road User Safety at Signalized Intersections Through Cooperative Perception and Driving Automation: Final Report · 2024 · Bayartsengel, Misheel et al. · archived
179. Human-Vehicle Interfaces: The Power of Vehicle Movement Gestures in Human Road User Coordination ↗ · 2017 · Risto, Malte et al. · indexed
180. Towards guidelines and verification methods for automated vehicle HMIs · 2018 · Naujoks, Frederik et al. · archived
181. Human-Machine Interfaces and Vehicle Automation: A Review of the Literature and Recommendations for System Design, Feedback, and Alerts · 2022 · AAA Foundation for Traffic Safety · archived
182. Investigating HMIs to Foster Communications between Conventional Vehicles and Autonomous Vehicles in Intersections · 2023 · Avetisyan, Lilit et al. · archived
183. Smartphone-Based Mid-Block Pedestrian Crossing In-Vehicle Warning - Phase 2: Final Project Report · 2020 · Roldan, Stephanie M. et al. · archived
184. Promoting trust in HAVs of following manual drivers through implicit and explicit communication during minimal risk maneuvers · 2023 · Hub, Fabian et al. · archived
185. Unsettled Issues Regarding Visual Communication Between Automated Vehicles and Other Road Users ↗ · 2021 · Beiker, Sven · indexed
186. An eHMI Presenting Request-to-Intervene and Takeover Status of Level 3 Automated Vehicles to Support Surrounding Traffic Safety · 2026 · Liu, Hailong et al. · archived
187. Pedestrians’ road-crossing behavior towards eHMI-equipped autonomous vehicles driving in segregated and mixed traffic conditions ↗ · 2023 · Song, Yuanming et al. · indexed
188. Identifying Critical Contextual Design Cues Through a Machine Learning Approach ↗ · 2019 · Cummings, Mary L. “Missy” et al. · indexed
189. Fast Lane - Exploring Human Behavior - Volume 19 · 2024 · NHTSA · archived
190. Evaluation of Human Machine Interface for Vehicle – infrastructure Cooperative Driver Assistance ↗ · 2024 · SAWADA, Jun et al. · indexed
191. Virtual Reality Study on Pedestrians’ Perceived Trust in Interactions with Automated Vehicles ↗ · 2024 · Ilic, Mario et al. · indexed
192. Predictors of cyclists’ and pedestrians’ behavior in interactions with turning (Automated) vehicles − Insights from a Wizard-of-Oz study in real traffic ↗ · 2025 · Harkin, A. Marie et al. · indexed
193. Automated vehicles that communicate implicitly: examining the use of lateral position within the lane ↗ · 2021 · Sripada, Anirudh et al. · indexed
194. Kinematic cues in driver-pedestrian communication to support safe road crossing ↗ · 2023 · Zach Noonan, T. et al. · indexed
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197. From Brake Lights to Beyond - Assessing Rear eHMI Designs through a Video-Based Survey ↗ · 2025 · Gu, Feiqi et al. · indexed
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199. Visually Impaired Pedestrian Safety at Roundabout Crossings · 2017 · Christofa, Eleni et al. · archived
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201. Vulnerable Road User Safety Using Mobile Phones with Vehicle-to-VRU Communication ↗ · 2023 · Gelbal, Sukru Yaren et al. · indexed
202. A Survey: Why and How Automated Vehicles Should Communicate to Other Road-Users ↗ · 2018 · Onishi, Hirofumi · indexed
203. Coupling intention and actions of vehicle-pedestrian interaction: A virtual reality experiment study · 2024 · Dang, Meiting et al. · archived
204. Stopping by looking: A driver-pedestrian interaction study in a coupled simulator using head-mounted displays with eye-tracking ↗ · 2022 · Mok, Chun Sang et al. · indexed
205. Cross or Nah? LLMs Get in the Mindset of a Pedestrian in front of Automated Car with an eHMI · 2025 · Alam, Md Shadab et al. · archived
206. Blinded windows and empty driver seats: The effects of automated vehicle characteristics on cyclists’ decision‐making ↗ · 2022 · Bazilinskyy, Pavlo et al. · indexed
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208. Developing and testing a LED system to improve pedestrian safety in Nevada · 2018 · Teng, Hualiang (Harry) et al. · archived
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210. 2018 Forum on the Impact of Vehicle Technologies and Automation on Vulnerable Road Users and Driver Behavior and Performance: A Summary Report · 2019 · AAA Foundation for Traffic Safety · archived
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212. Implicit communication in cyclist-vehicle interaction: Examining the influence of driving dynamics in interactions with turning (automated) vehicles on cyclists' perceived safety, behavioral intention, and risk anticipation ↗ · 2024 · Harkin, A. Marie et al. · indexed
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217. Benefits of Redundant Visual In-Vehicle Information in Pedestrian–Vehicle Conflict Scenarios ↗ · 2019 · Hoekstra-Atwood, Liberty et al. · indexed
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224. Evaluation of the effects of in-vehicle traffic lights on driving performances for unsignalised intersections · 2017 · Yang, Bo et al. · archived
225. Braking behaviour of automated vehicles as critical implicit communication for pedestrians’ vehicle behaviour estimation and road crossing ↗ · 2023 · Tian, Kai et al. · indexed
226. Combining Internal and External Communication: The Design of a Holistic Human-Machine Interface for Automated Vehicles ↗ · 2024 · Verstegen, Rutger et al. · indexed
227. Evaluation of an assistance system supporting older pedestrians’ road crossing in virtual reality and in a real-world field test ↗ · 2022 · Wiczorek, Rebecca et al. · indexed
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401. SafeVRU: A Research Platform for the Interaction of Self-Driving Vehicles with Vulnerable Road Users ↗ · 2019 · Ferranti, L. et al. · indexed
402. Driver Responses to Simultaneous V2V and V2I Safety Critical Information in Left-turn Across Path Scenarios ↗ · 2015 · Richard, Christian et al. · indexed
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408. Measuring Driver Electrodermal Activity when Exposed to HMIs Conveying Uncertainty in Conditional Automated Driving ↗ · 2025 · Pardo, Jorge et al. · indexed
409. Evaluation of Driver Comprehension and Visual Attention of the Flashing Yellow Arrow Display for Permissive Right Turns · 2019 · Jashami, Hisham et al. · archived
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419. Supporting car-following behavior through V2V-based beyond-visual-range information display · 2026 · Gu, Feiqi et al. · archived
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440. The Dynamic Signalization of Calamity Routes – A Driving Simulator Study · 2015 · Cornu, Joris et al. · archived
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444. How do signs and warning influence driving behaviors at flashing light grade crossings? ↗ · 2020 · Yang, Jingsi et al. · indexed
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449. Outdoor Advertising Report: Changeable Message Signs · 2018 · NHTSA · archived
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454. How Cyclists’ Body Posture Can Support a Cooperative Interaction in Automated Driving ↗ · 2024 · Trommler, Daniel et al. · indexed
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608. Emission-Based Signal Timing Optimization for Isolated Intersections ↗ · 2015 · Khalighi, Farnoush et al. · indexed
609. Securing the Rights of Pedestrians Is the Key to Smart, Sustainable Cities: A Law and Policy Approach ↗ · 2017 · Agrawal, Girish · indexed
610. A Reinforcement Learning Method for Traffic Signal Control at an Isolated Intersection with Pedestrian Flows ↗ · 2019 · Yin, Biao et al. · indexed
611. Estimation of delay on signalized intersections of urban streets with a three-phase signal ↗ · 2019 · Horbachov, Peter et al. · indexed
612. Estimation of delay on signalized intersections of urban streets with a three-phase signal ↗ · 2019 · Horbachov, Peter et al. · indexed
613. STRATEGIC PUBLIC TRANSPORT PRIORITY USING SELECTIVE VEHICLE DETECTION : DOES IT WORK? ↗ · 2000 · Fox, Ken · indexed
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615. Control Method for Signalized Intersection with Integrated Waiting Area ↗ · 2019 · Xia, Xiaomei et al. · indexed
616. Wearable Electromyogram Design for Finger Movements Based Real-Time Human-Machine Interfaces Parmak Hareketlerine Dayalı Gerçek Zamanlı İnsan-Makine Arayüzleri için Giyilebilir Elektromiyogram Tasarımı ↗ · 2023 · AYDOĞAN, İsmail et al. · indexed
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618. Non-technical communication factors at the Vessel Traffic Services ↗ · 2017 · Costa, Nicole A. et al. · indexed
619. SURTRAC: Scalable Urban Traffic Control ↗ · 2018 · Smith, Stephen F. et al. · indexed
620. Evaluation of an Immersive Virtual Reality Safety Training Used to Teach Pedestrian Skills to Children With Autism Spectrum Disorder ↗ · 2019 · Dixon, Dennis R. et al. · indexed
621. Investigating Emission Reduction Benefit From Intersection Signal Optimization ↗ · 2012 · Lv, Jinpeng et al. · indexed
622. Cycle Length Optimization at Isolated Signalized Intersections from the Viewpoint of Emission ↗ · 2010 · Ma, Danpeng et al. · indexed
623. Smart Wildlife Sentinel (SWS): Preventing Wildlife-Vehicle Collisions and Monitoring Road Ecology with Embedded IoT Systems and Machine Learning ↗ · 2022 · Ma, Alan · indexed
624. The Use of ITS for Improving Bus Priority at Traffic Signals · 2020 · Morellato, Camilla et al. · archived
625. Extension and Validation of NEMA-Style Dual-Ring Controller in SUMO ↗ · 2022 · Schrader, Max et al. · indexed
626. Optimizing Traffic Signal Control to Enhance Transportation Efficiency and Maximize Pedestrian Benefits in the Road Network ↗ · 2024 · Kumarasamy, Vijayalakshmi K et al. · indexed
627. Enhancing Inclusivity: Designing Disability Friendly Pedestrian Pathways ↗ · 2024 · Adi, Henny Pratiwi et al. · indexed
628. Traffic Signal Optimization with Application of Transit Signal Priority to an Isolated Intersection ↗ · 2011 · Christofa, Eleni et al. · indexed
629. Developing Guidelines for Implementing Transit Signal Priority and Freight Signal Priority Using Simulation Modeling and a Decision Tree Algorithm ↗ · 2021 · Iqbal, Shahadat et al. · indexed
630. Arterial Traffic Signal Coordination for General and Public Transport Vehicles Using Dedicated Lanes ↗ · 2020 · Florek, Krzysztof · indexed
631. Evaluation of Transit Signal Priority Options for Future Bus Rapid Transit Line in West Valley City, Utah ↗ · 2012 · Zlatkovic, Milan et al. · indexed
632. Fuzzy traffic signal control-environmentally better choice ↗ · 2001 · Nittymäki, Jarkko · indexed
633. Integrating Bus Priority and Presignal Method at Signalized Intersection: Algorithm Development and Evaluation ↗ · 2020 · Bie, Yiming et al. · indexed
634. Designing an immersive visit for public space assessment · 2024 · Issa, Elie et al. · archived
635. Optimizing of Traffic-Signal Timing Based on the FCIC-PI—A Surrogate Measure for Fuel Consumption ↗ · 2023 · Alshayeb, Suhaib et al. · indexed
636. A Traffic Emission-saving Signal Timing Model for Urban Isolated Intersections ↗ · 2013 · Rao, Qian et al. · indexed
637. Vehicle-Pedestrian Optimization Framework for Exposure-Aware Routing ↗ · 2025 · Aliyev, Gurban et al. · indexed
638. Traffic Signal Optimization to Improve Sustainability: A Literature Review ↗ · 2022 · Alshayeb, Suhaib et al. · indexed
639. New signal priority strategies to improve public transit operations in an urban corridor ↗ · 2023 · Mazaheri, Arash et al. · indexed
640. Active Transit Signal Priority for Streetcars ↗ · 2008 · Currie, Graham et al. · indexed
641. Metaheuristic approach for designing robust traffic signal timings to effectively serve varying traffic demand ↗ · 2021 · Shirke, Chaitrali et al. · indexed
642. Decision support for vessel traffic service (VTS): user needs for dynamic risk management in the VTS ↗ · 2012 · Praetorius, Gesa et al. · indexed
643. EMR-Based Signal-HIL Testing of an Electric Vehicle Control ↗ · 2017 · Genic, A. et al. · indexed
644. Competence of Bus Rapid Transit Systems Coupled with Transit Signal Priority at Signalized Junctions ↗ · 2022 · Robel, Desta et al. · indexed
645. Passenger‐based adaptive transit signal priority for BRT systems with multiple loading areas ↗ · 2024 · Behbahani, Hamid et al. · indexed
646. A Fuzzy Logic Supported Multi-Agent System For Urban Traffic And Priority Link Control ↗ · 2021 · Ikidid, Abdelouafi et al. · indexed
647. Visual Deep Reinforcement Learning for Adaptive Traffic Signal Control: A Neuro-Symbolic XAI Approach ↗ · 2026 · Caballero, Diego et al. · indexed
648. Effect of pedestrian-oriented design benefits to land value ↗ · 2014 · Li, C.-N. et al. · indexed
649. Constrained Reinforcement Learning for Fair and Environmentally Efficient Traffic Signal Controllers ↗ · 2024 · Haydari, Ammar et al. · indexed
650. Toward Inherently Safer Human-Robot Interaction Using Compliant Actuators With High Torque-to-Inertia Ratios and Low Torque-to-Stiffness Ratios ↗ · 2023 · Yu, Chen-Pin et al. · indexed
651. Morphology of Street Vegetation along Pedestrian Walkways in Kuala Lumpur City Centre ↗ · 2019 · Hussein, Hazreena et al. · indexed
652. Integration of Decentralized Graph-Based Multi-Agent Reinforcement Learning with Digital Twin for Traffic Signal Optimization ↗ · 2024 · Kumarasamy, Vijayalakshmi K et al. · indexed
653. Instigating Smart City Infrastructure in Oman: Considering Social Benefits and Economic Values ↗ · 2020 · Waleed Mubarak Al-Yousfi et al. · indexed
654. Development of the Optics Valley Photon suspended monorail train ↗ · 2024 · Yuwen, LIU et al. · indexed
655. Intelligent Road Maintenance ↗ · 2025 · Alatabani, Lina E. et al. · indexed
656. Energy Harvesting Technology by Converting Waste Heat Energy from Automobiles ↗ · 2021 · Rakib, Md Abdullah Al Rakib et al. · indexed
657. A Study on Measures to achieve Net Zero and RE100 goals in Urban Water Cycle System ↗ · 2025 · Ahn, Seyoung et al. · indexed
658. Enhancing Accessibility in Public Spaces: A Computational Study of Hatirjheel Lakefront Using Space Syntax ↗ · 2025 · Hossain, Sharif Tousif et al. · indexed
659. A novel GTP-binding protein–adaptor protein complex responsible for export of Vangl2 from the trans Golgi network ↗ · 2013 · Guo, Yusong et al. · indexed
660. Molecular isolation and functional characterization of host factors required in the virus infection cycle for disease control in plants. ↗ · 2013 · Wang AiMing, Wang AiMing · indexed
661. GAJAH DALAM TERAKOTA MAJAPAHIT ↗ · 2016 · Yustana, Prima · indexed