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eHMIs refers to a novel and explicit communication method for pedestrian-AVnegotiation in interactions, such as in encounter scenarios. However,pedestrians with limited experience in negotiating with AVs could lack acomprehensive and correct understanding of the information on drivingintentions' meaning as conveyed by AVs through eHMI, particularly in thecurrent contexts where AV and eHMI are not yet mainstream. Consequently,pedestrians who misunderstand the driving intention of the AVs during theencounter may feel threatened and perform unpredictable behaviors. To solvethis issue, this study proposes using the pre-instruction on the rationale ofeHMI to help pedestrians correctly understand driving intentions and predict AVbehavior. Consequently, this can improve their subjective feelings (ie. senseof danger, trust in AV, and sense of relief) and decision-making. In addition,this study suggests that the eHMI could better guide pedestrian behaviorthrough the pre-instruction. The results of interaction experiments in the roadcrossing scene show that participants found it more difficult to recognize thesituation when they encountered an AV without eHMI than when they encountered amanual driving vehicle (MV); in addition, participants' subjective feelings andhesitations while decision-making worsened significantly. After thepre-instruction, the participants could understand the driving intention of anAV with eHMI and predict driving behavior more easily. Furthermore, theparticipants' subjective feelings and hesitation to make decisions improved,reaching the same criteria used for MV. Moreover, this study found that theinformation guidance of using eHMI influenced the participants' walking speed,resulting in a small variation over the time horizon via multiple trials whenthey fully understood the principle of eHMI through the pre-instruction.

Pre-instruction for Pedestrians Interacting Autonomous Vehicles with an eHMI: Effects on Their Psychology and Walking Behavior