Supplementary material for paper "Slideo: Bicycle-to-Vehicle communication to intuitively share intention to turn with automated vehicles"

In urban environments, cycling is an important method of transportation due to being sustainable, healthy and less space-intensive than motorised traffic. Most literature on interactions between automated vehicles (AVs) and vulnerable road users (VRUs) focuses on external Human-Machine Interfaces positioned on AVs and telling VRUs what to do. Such an interface requires cyclists to actively look for and interpret the information and can reduce their ability to make their own decisions. We designed a physical bicycle-to-vehicle (B2V) interaction that allows cyclists to share the intention to turn with AVs through vehicle-to-everything (V2X) communication. We explored four concepts of interaction with hands, feet, hips, and knees. The final concept uses haptic feedback in each handle. The test with nine participants explored the clarity of the feedback and compared two variations: (1) providing feedback in the beginning, during and at the end and (2) giving feedback only at the beginning and end. Results indicate that the general meaning of both variants is clear and that the preferred variation of feedback is up to personal preference. We suggest that B2V interactions should be possible to personalise.

在城市交通场景中，骑行因具备可持续性、健康属性且相较于机动车交通占用空间更少，成为一种重要的出行方式。现有绝大多数关于自动驾驶汽车（automated vehicles, AVs）与弱势道路使用者（vulnerable road users, VRUs）之间交互的研究，均聚焦于部署在自动驾驶汽车上的外部人机界面，旨在向弱势道路使用者传递行动指令。此类界面要求骑行者主动搜寻并解读相关信息，反而会削弱其自主决策的能力。本研究设计了一种实体化的自行车-车辆（bicycle-to-vehicle, B2V）交互方案，骑行者可通过车到万物（vehicle-to-everything, V2X）通信向自动驾驶汽车传递转向意图。本研究探索了四种分别依托手部、足部、髋部与膝部的交互概念，最终方案采用了车把处的触觉反馈机制。本研究招募9名参与者开展测试，旨在评估反馈的清晰度，并对比两种反馈模式：（1）在交互全程（起始、进行中与结束阶段）均提供反馈；（2）仅在交互起始与结束阶段提供反馈。研究结果表明，两种反馈模式的核心含义均清晰易懂，而反馈模式的偏好选择则因人而异。本研究建议，自行车-车辆交互方案应支持个性化定制。