Supplementary data for the paper 'Phantom braking in automated vehicles: A theoretical outline and cycling simulator demonstration'

The emerging use of automated driving systems introduces novel situations that may affect the safety of vulnerable road users such as cyclists. In this paper, we explain and conceptualise the phenomenon of phantom braking – sudden and unexpected deceleration – in automated vehicles. We apply signal detection theory to interpret phantom braking as a by-product of automated decision-making, with the vehicle favouring the avoidance of accidents at the cost of potentially causing rear-end accidents. To illustrate phantom braking and its effects on cyclists, we used a newly developed cycling simulator. An exploratory measurement conducted with a single cyclist participant revealed a possible complacency effect of the cyclist, with the cyclist’s decision-making mirroring the automated vehicle’s decision-making. The findings provide a testament to using cycling simulators for further exploration of the effects of phantom braking on cyclists.

自动驾驶系统（automated driving systems）的新兴应用催生了诸多新型场景，这些场景可能对骑行者（cyclists）这类弱势道路使用者（vulnerable road users）的安全构成威胁。本文针对自动驾驶车辆中突发且意外的减速现象——幻影制动（phantom braking）进行阐释与概念化建模。我们运用信号检测理论（signal detection theory）将幻影制动解读为自动驾驶决策的副产物：车辆为规避碰撞事故，可能以潜在引发追尾事故（rear-end accidents）为代价做出决策。为演示幻影制动现象及其对骑行者的影响，我们采用了一款全新研发的骑行模拟器（cycling simulator）。针对一名骑行者参与者开展的探索性测试显示，骑行者或存在自满效应（complacency effect），其决策模式与自动驾驶车辆的决策逻辑趋于一致。本研究结果证实，骑行模拟器可用于进一步探索幻影制动对骑行者造成的影响。