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Aiming for a society where humans and automated vehicles can coexistcooperatively, understanding what constitutes cooperative and trustworthybehaviour is essential to designing automated vehicle controllers that enablethe integration of highly automated vehicles into the real world. This studyinvestigates how merging vehicles can gain trust from human-driven vehicles ina congested merging situation that requires explicit and implicitcommunication. Specifically, this study examines how the different behavioursof merging vehicles in the preparatory phase of the merge affect perceivedtrust from the perspective of the host vehicle in the mainstream lane. Thefindings suggest that transparent longitudinal positioning could improve thechance of successful merging, and cooperative deceleration during mergingpreparation could enhance the trust perceived by the host vehicle. Furthermore,the results reveal that, in time-sensitive situations where the merging vehicleapproaches a lane closing point, prompt and decisive action of the mergingvehicle encourages establishing trust with the host vehicle; any delay orhesitation can result in a lower level of trust. The results can providevaluable insights towards developing collaborative automated vehicles thatimprove safety and efficiency in real-world traffic situations that involvehumans.

Would you trust a vehicle merging into your lane? Subjective evaluation of negotiating behaviour in a congested merging scenario