Title: The Formation of Trust in Autonomous Vehicles after Interacting with Robotaxis on Public Roads Show Chinese title

Title: 在公共道路上与机器人出租车互动后自动驾驶车辆的信任形成

Abstract: This study investigates how pedestrian trust, receptivity, and behavior evolve during interactions with Level-4 autonomous vehicles (AVs) at uncontrolled urban intersections in a naturalistic setting. While public acceptance is critical for AV adoption, most prior studies relied on simplified simulations or field tests. We conducted a real-world experiment in a commercial Robotaxi operation zone, where 33 participants repeatedly crossed an uncontrolled intersection with frequent Level-4 Robotaxi traffic. Participants completed the Pedestrian Behavior Questionnaire (PBQ), Pedestrian Receptivity Questionnaire for Fully AVs (PRQF), pre- and post-experiment Trust in AVs Scale, and Personal Innovativeness Scale (PIS). Results showed that trust in AVs significantly increased post-experiment, with the increase positively associated with the Interaction component of PRQF. Additionally, both the Positive and Error subscales of the PBQ significantly influenced trust change. This study reveals how trust forms in real-world pedestrian-AV encounters, offering insights beyond lab-based research by accounting for population heterogeneity. Show Chinese abstract

Abstract: 本研究调查了行人信任、接受度和行为在与四级自动驾驶汽车（AV）在自然环境中的非受控城市交叉口互动过程中如何演变。 尽管公众接受度对AV的采用至关重要，但大多数先前的研究依赖于简化的模拟或实地测试。 我们在一个商业Robotaxi运营区域进行了现实世界的实验，33名参与者多次穿越有频繁四级Robotaxi交通的非受控交叉口。 参与者完成了行人行为问卷（PBQ）、针对完全AV的行人接受度问卷（PRQF）、实验前后对AV的信任量表以及个人创新性量表（PIS）。 结果显示，实验后对AV的信任显著增加，这种增加与PRQF的互动成分呈正相关。 此外，PBQ的积极和错误子量表显著影响了信任的变化。 本研究揭示了真实世界中行人与AV相遇时信任的形成过程，通过考虑人口异质性，提供了超越实验室研究的见解。