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One of the main challenges autonomous vehicles (AVs) will face is interactingwith pedestrians, especially at unmarked midblock locations where theright-of-way is unspecified. This study investigates pedestrian crossingbehavior given different roadway centerline features (i.e., undivided, two-wayleft-turn lane (TWLTL), and median) and various AV operational schemesportrayed to pedestrians through on-vehicle signals (i.e., no signal, yellownegotiating indication, and yellow/blue negotiating/no-yield indications). Thisstudy employs virtual reality to simulate an urban unmarked midblockenvironment where pedestrians interact with AVs. Results demonstrate that bothroadway centerline design features and AV operations and signalingsignificantly impact pedestrian unmarked midblock crossing behavior, includingthe waiting time at the curb, waiting time in the middle of the road, and thetotal crossing time. But only the roadway centerline features significantlyimpact the walking time. Participants in the undivided scene spent a longertime waiting at the curb and walking on the road than in the median and TWLTLscenes, but they spent a shorter time waiting in the middle. Compared to the AVwithout a signal, the design of yellow signal significantly reduced pedestrianwaiting time at the curb and in the middle. But yellow/blue significantlyincreased the pedestrian waiting time. Interaction effects between roadwaycenterline design features and AV operations and signaling are significant onlyfor waiting time in the middle. For middle waiting time, yellow/blue signalshad the most impact on the median road type and the least on the undividedroad. Demographics, past behaviors, and walking exposure are also explored.Older individuals tend to wait longer, and pedestrian past crossing behaviorsand past walking exposures do not significantly impact pedestrian walkingbehavior.

Pedestrian Behavior Interacting with Autonomous Vehicles during Unmarked  Midblock Multilane Crossings: Role of Infrastructure Design, AV Operations  and Signaling