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Despite the approaching commercialization of robo-taxis, various anxietyfactors concerning the safety of autonomous vehicles are expected to form alarge barrier against consumers' use of robo-taxi services. The purpose of thisstudy is to derive the various internal and external factors that contribute tothe anxieties of robo-taxi passengers, and to propose a human-machine interface(HMI) concept to resolve such factors, by testing robo-taxi services on real,complex urban roads. In addition, a remote system for safely testing arobo-taxi in complex downtown areas was constructed, by adopting the Wizard ofOz (WOZ) methodology. From the results of our tests - conducted upon 28subjects in the central area of Seoul - 19 major anxiety factors arising fromautonomous driving were identified, and seven HMI functions to resolve suchfactors were designed. The functions were evaluated and their anxiety reductioneffects verified. In addition, the various design insights required to increasethe reliability of robo-taxis were provided through quantitative andqualitative analysis of the user experience surveys and interviews.

A Study on Anxiety about Using Robo-taxis: HMI Design for Anxiety Factor Analysis and Anxiety Relief Based on Field Tests