TABLE 6.
Communication channels/mechanisms in HGV-VRU interactions, including examples of extracted road user behaviors/communication cues (regular font) as well as complementary examples added by the authors (italic font).
| HGV | VRUs | |||
|---|---|---|---|---|
| Communication channel/mechanism | Vehicle-centric cues | Driver-centric cues | Pedestrian-centric cues | Cyclist-centric cues |
| Gestures and movement (kinetics) | HGV adapting trajectory | Driver hand gesture | Pedestrian stepping onto the roadway | Cyclist waving |
| Space (proxemics) | HGV position relative to VRU at an intersection | Driver present inside/outside the truck cabin at loading zone | Pedestrian proximity to other VRUs in the vicinity | Cyclists riding in group |
| Time (chronemics) | HGV timing acceleration to pass VRU | Driver sequence/order of gaze behavior | Pedestrian initiation of crossing (timing a gap) | Cyclist quickly leaving the near-truck zone |
| Voice (paralanguage) | HGV horn sound | Driver vocal reaction | Pedestrian vocal reaction | Cyclist vocal reaction |
| Face and eyes (e.g., oculesics) | — | Driver eye-gaze | Pedestrian facial expression | Cyclist eye-gaze |
| Touch (haptics) | HGV producing aerodynamic force on cyclist | — | — | — |
| Appearance | HGV as a larger vehicle | Professional driver | Young/old pedestrian | Casual cyclist vs. racer |
| Human-machine interface (HMI) | HGV displaying contents using external HMI (turning indication or other state/intent etc.) | — | — | — |
| Environment (e.g., olfactics) | Engine/tire smell | — | — | — |