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Interacting with pedestrians is challenging for Autonomous vehicles (AVs).This study evaluates how AV operations /associated signaling and roadwayinfrastructure affect pedestrian behavior in virtual reality. AVs were designedwith different operations and signal indications, including negotiating with nosignal, negotiating with a yellow signal, and yellow/blue negotiating/no-yieldindications. Results show that AV signal significantly impacts pedestrians'accepted gap, walking time, and waiting time. Pedestrians chose the largestopen gap between cars with AV showing no signal, and had the slowest crossingspeed with AV showing a yellow signal indication. Roadway infrastructureaffects pedestrian walking time and waiting time.

Pedestrian Behavior Interacting with Autonomous Vehicles: Role of AV Operation and Signal Indication and Roadway Infrastructure