Two-step communication for the interaction between automated vehicles and pedestrians

An important challenge of automated vehicles (AV) will be the cooperative interaction with surrounding road users such as pedestrians. One solution to compensate for the missing driver-pedestrian interaction might be explicit communication via external human machine interfaces (eHMIs). Additionally, implicit communication such as a vehicle pitch motion might support AVs when interacting with pedestrians. While previous work explored various explicit and implicit communication cues, these concepts communicated the intention of the AV at one single time point. Currently, empirical findings on two-step communication lack so far. In this study, we empirically test the effect of a two-step AV communication that uses an implicit cue at a long distance and subsequently provides an implicit or explicit cues at a short distance. We compared its efficiency to single-step communication concepts providing implicit or explicit cues at the shorter distance only. To explore whether the right communication cue is used at the right distance, we analyzed pedestrians’ fixations while approaching an AV using an eye tracking device.We conducted a virtual reality study (N = 30) with AV communication concept that provided an active pitch motion or an eHMI and compared them with a two-step AV communication concept that provided an additional active pitch motion at a long distance when approaching the pedestrian. Furthermore, we recorded pedestrians’ fixation behavior while the AV approached.Consistently to previous work, single-step AV communication showed a beneficial effect on crossing behavior. Pedestrians initiated their crossing earlier while approaching an AV with an active pitch motion or an eHMI compared to the baseline condition. While active pitch motion reduced subjective safety feeling, eHMI increased it. However, the two-step communication concept did not further improve pedestrians’ crossing initiation times and their safety feeling. The pattern of fixation behavior differed as a function of AV distance. When the approaching AV was far away, pedestrians exclusively looked at the environment. During the approach, pedestrians gradually fixated the bumper and the hood and only then the windshield of the AV. Hence, it seems to be useful to present an AV intent communication at a certain distance from the pedestrian. These findings posit the importance of considering pedestrians’ fixation behavior when developing communication concepts between AVs and pedestrians.     

潜变量交互效应标准化估计：方法比较与选用策略

标准化估计对模型的解释和效应大小的比较有重要作用。虽然潜变量交互效应的恰当标准化估计公式已经面世超过10年, 国内外都在使用和引用, 但至今未见到关于不同估计方法得到的恰当标准化估计的系统比较。通过模拟实验, 比较了乘积指标法、潜调节结构方程(LMS)、无先验信息和有先验信息的贝叶斯法的潜变量交互效应标准化估计在不同条件下的表现。结果发现, 在正态条件下, LMS和有信息贝叶斯法表现较好; 而在非正态条件下, 乘积指标法比较稳健, 但需要较大的样本(不小于500), 小样本且外生潜变量之间相关很低时可使用无信息贝叶斯法。     

A method in modeling interactive pedestrian crossing and driver yielding decisions during their interactions at intersections

Investigating pedestrian crossing and driver yielding decisions should be an important focus considering the high risks of pedestrians in exposed to motorized traffic. Limitations, however, exist in previous studies – variables considered previously have been limited; how their behavior affect each other (defined as interactive impacts) were not sufficiently considered. This paper aims to provide a methodological approach for pedestrian crossing and driver yielding decisions during their interactions, considering of different variable types including interactive impact variables, traffic condition variables, road design variables, and environment variables. A Distance-Velocity (DV) framework proposed in an earlier study is introduced for definitions and concepts in studying pedestrian-vehicle interactions. Logistic regression, support vector machines, neural networks and random forests, are introduced as candidate models. A case study involving six crosswalk locations is conducted, focusing on interactions between pedestrians and right-turn vehicles. The proposed methodological approach is applied, with the performance of the four machine learning methods compared in terms of model generalization and confusion matrix. The model with the best performance is further compared to the typical gap-based model. Results show that random forest and logistic regression models performed the best in modeling pedestrian crossing and driver yielding decisions respective, in terms of model generalization. Besides, the DV-based modeling method (average accuracy of over 90% for pedestrians and 80% for drivers) outperformed the traditional gap-based method in all test seeds. As a key finding, interactive impacts from each other (the pedestrian and the driver) act as a key contributing variable on their decisions.     

Evaluating the influence of approaching vehicles on pedestrian’s visual patterns and crossing behaviors at an uncontrolled crosswalk

The visual behaviors and movement characteristics of pedestrians are related to their surrounding potential safety hazards, such as approaching vehicles. This study primarily aimed to investigate the visual patterns and walking behaviors of pedestrians interacting with approaching vehicles. Field experiments were conducted at two uncontrolled crosswalks located at the Cuihua and Yanta roads in Xi’an, China. The visual performance of pedestrians was assessed using the eye tracking system from SensoMotoric Instruments (SMI). Moreover, motion trajectories of the pedestrians and approaching vehicles were obtained using an unmanned aerial vehicle. Subsequently, the visual attributes and movement trajectories of pedestrians and motion trajectories of approaching vehicles were statistically analyzed. The results showed that approaching vehicles distracted the fixation of crossing pedestrians significantly, and occupied 29.5% of the total duration of fixation; that is, pedestrians always directed more fixation points to the approaching vehicles compared to other stimuli. As a vehicle approached, pedestrians’ fixation shifted from other areas of interest to the vehicle. Moreover, an increase in the velocity of the vehicle and a closer distance between pedestrian and the vehicle resulted in an increase in the pedestrians’ duration of fixation on the approaching vehicle, and they implemented more saccades. Furthermore, approaching vehicle’s velocity and distance between pedestrian and approaching vehicle are not significantly associated with pedestrian’s movement attributes. These findings provide insights into the crossing behavior of pedestrians during pedestrian-vehicle interactions, which could assist future researchers and policy makers.     

Perceiving by proxy: Effect-based action control with unperceivable effects

Anticipations of future sensory events have the potential of priming motor actions that would typically cause these events. Such effect anticipations are generally assumed to rely on previous physical experiences of the contingency of own actions and their ensuing effects. Here we propose that merely imagined action effects may influence behaviour similarly as physically experienced action effects do. Three experiments in the response–effect compatibility paradigm show that the mere knowledge of action–effect contingencies is indeed sufficient to incorporate these effects into action control even if the effects are never experienced as causally linked to own actions. The experiments further highlight constraints for this mechanism which seems to be rather effortful and to depend on explicit intentions.     

Sometimes it does hurt to ask: The constructive role of articulating impressions

Decisions can sometimes have a constructive role, so that the act of, for example, choosing one option over another creates a preference for that option (e.g., , ,  and ). In this work we explore the constructive role of just articulating an impression, for a presented visual stimulus, as opposed to making a choice (specifically, the judgments we employ are affective evaluations). Using quantum probability theory, we outline a cognitive model formalizing such a constructive process. We predict a simple interaction, in relation to how a second image is evaluated, following the presentation of a first image, depending on whether there is a rating for the first image or not. The interaction predicted by the quantum model was confirmed across three experiments and a variety of control manipulations. The advantages of using quantum probability theory to model the present results, compared with existing models of sequence order effects in judgment (e.g., Hogarth & Einhorn, 1992) or other theories of constructive processes when a choice is made (e.g.,  and ) are discussed.     

Individual Differences in Susceptibility to Misinformation Effects and Hindsight Bias

The present study examined individual differences in susceptibility to two similar forms of memory distortion: the misinformation effect and hindsight bias. The misinformation effect occurs when individuals witness an event, are provided with misinformation, and recall the original event as containing elements of the misinformation. Hindsight bias occurs when individuals make judgments, are provided with feedback, and recall their original judgments as being more similar to the feedback than they actually were. Seventy-five participants completed a misinformation task, a hindsight bias task, and several individual difference measures related to memory distortions. Working memory capacity was negatively correlated with the misinformation effect and hindsight bias, and the misinformation effect and hindsight bias were negatively correlated with one another. Although the misinformation effect and hindsight bias are measured with similar designs, and both are predicted by working memory capacity, the negative correlation between them suggests these phenomena result from somewhat different processes.     

Task effects reveal cognitive flexibility responding to frequency and predictability: Evidence from eye movements in reading and proofreading

It is well-known that word frequency and predictability affect processing time. These effects change magnitude across tasks, but studies testing this use tasks with different response types (e.g., lexical decision, naming, and fixation time during reading; Schilling, Rayner, & Chumbley, 1998), preventing direct comparison. Recently, Kaakinen and Hyönä (2010) overcame this problem, comparing fixation times in reading for comprehension and proofreading, showing that the frequency effect was larger in proofreading than in reading. This result could be explained by readers exhibiting substantial cognitive flexibility, and qualitatively changing how they process words in the proofreading task in a way that magnifies effects of word frequency. Alternatively, readers may not change word processing so dramatically, and instead may perform more careful identification generally, increasing the magnitude of many word processing effects (e.g., both frequency and predictability). We tested these possibilities with two experiments: subjects read for comprehension and then proofread for spelling errors (letter transpositions) that produce nonwords (e.g., trcak for track as in Kaakinen & Hyönä) or that produce real but unintended words (e.g., trial for trail) to compare how the task changes these effects. Replicating Kaakinen and Hyönä, frequency effects increased during proofreading. However, predictability effects only increased when integration with the sentence context was necessary to detect errors (i.e., when spelling errors produced words that were inappropriate in the sentence; trial for trail). The results suggest that readers adopt sophisticated word processing strategies to accommodate task demands.     

Transfer effects between moral dilemmas: A causal model theory

Evaluations of analogous situations are an important source for our moral intuitions. A puzzling recent set of findings in experiments exploring transfer effects between intuitions about moral dilemmas has demonstrated a striking asymmetry. Transfer often occurred with a specific ordering of moral dilemmas, but not when the sequence was reversed. In this article we present a new theory of transfer between moral intuitions that focuses on two components of moral dilemmas, namely their causal structure and their default evaluations. According to this theory, transfer effects are expected when the causal models underlying the considered dilemmas allow for a mapping of the highlighted aspect of the first scenario onto the causal structure of the second dilemma, and when the default evaluations of the two dilemmas substantially differ. The theory’s key predictions for the occurrence and the direction of transfer effects between two moral dilemmas are tested in five experiments with various variants of moral dilemmas from different domains. A sixth experiment tests the predictions of the theory for how the target action in the moral dilemmas is represented.