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，相较于机动车交通，自行车出行因兼具可持续性、健康环保与空间占用低的优势，成为重要的交通方式。现有针对自动驾驶汽车（Automated Vehicles, AVs）与弱势道路使用者（Vulnerable Road Users, VRUs）之间交互的研究，大多聚焦于部署在自动驾驶汽车上的外置人机交互界面（Human-Machine Interface, HMI），用于向弱势道路使用者传递行动指令。此类交互界面要求骑行者主动搜寻并解读相关信息，反而可能削弱骑行者自主决策的能力。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，允许骑行者通过车对外界信息交互（Vehicle-to-Everything, V2X）通信向自动驾驶汽车传递转向意图。研究团队探索了手部、足部、髋部及膝部四类交互设计概念，最终选定的方案采用车把触觉反馈机制。本次研究招募9名参与者开展测试，以评估反馈信息的清晰度，并对比两种反馈触发模式：（1）在交互开始、进行中及结束三个阶段均提供反馈；（2）仅在交互开始与结束阶段提供反馈。测试结果表明，两种反馈模式的核心含义均清晰易懂，而骑行者对反馈模式的偏好存在个体差异。本研究建议，自行车-车辆交互方案应支持个性化定制。