I See Your Gesture: A VR-Based Study of Bidirectional Communication between Pedestrians and Automated Vehicles

Figure 2

The approaching vehicles’ distance to pedestrian (distance measured parallel to the road) in the Baseline and eHMI conditions. Vehicles approached from around a corner at about 115 m distance and turned left at a corner after passing the participant (pedestrian distance 12 m. The grey area represents the region where the AV could detect hand gestures in the Hand and Combination conditions (i.e., distance to pedestrian between 30 and 50 m).