Supplementary data for the paper 'eHMI on the vehicle or on the infrastructure? A driving simulator study'

Automated vehicles (AVs) may require the implementation of an external human-machine interface (eHMI) to communicate their intentions to human-driven vehicles. The optimal placement of the eHMI, either on the AV itself or as part of the road infrastructure, remains undetermined. The current driving simulator study investigated the effect of eHMI positioning on human driving behavior, during the approach and execution of right turns at T-intersections. Forty-three participants drove under three conditions: absence of eHMI, eHMI on the AV (eHMIv), and eHMI integrated into the infrastructure (eHMIi). Participants encountered AVs that either yielded or did not yield to their vehicles. The results regarding the placement of the eHMI showed that both concepts are advantageous, but for different reasons. eHMIv was appreciated because implicit and explicit communication are congruent, although the AV must first be visually identified to respond to it. eHMIi was appreciated because a familiar cue is always at a known location in the environment; as a result, participants braked earlier for the intersection and came less close to the AV (which can be interpreted as a safety advantage or efficiency disadvantage). Although there are limitations to the current driving simulator study, this research provides important insights into the fundamental question of how information placement affects drivers’ visual attention demands and driving behavior, topics that are important in view of the development of future cities.