Physiological Evaluation of User Experience in Unstable Automated Driving: A Comparative Study

While automated-driving technology is advancing rapidly, human-centered research is still in its early stages. Research on negative user responses to automated driving is particularly limited in complex roadway environments such as roundabouts, where driving decisions typically depend on driver judgment and traffic conditions. In these environments, automated-driving vehicles may exhibit unstable behaviors, such as sudden stops or forced intersection entries. Since successful interaction between users and automated systems is critical for widespread adoption, understanding when and how automated driving negatively affects users is essential. This study investigated user psychological responses and corresponding physiological changes during unstable automated-driving situations. Using a virtual environment driving simulator, we compared two scenarios: sensor-only automated driving (A.D(S)), which exhibited unstable driving patterns; and cooperative automated driving (A.D(C)), which achieved more stable performance through infrastructure communication. We analyzed the responses of 30 participants using electromyography (EMG) measurements and pupil diameter tracking, supplemented by qualitative evaluations. Results showed that A.D(S) participants experienced higher levels of frustration during prolonged waiting times compared to A.D(C) participants. In addition, sudden braking events elicited startle responses characterized by pupil dilation and elevated arm-muscle EMG readings. This research advances our understanding of how automated-driving behaviors affect user experience and emphasizes the importance of human factors in the development of automated-driving technologies.