Sharing the road with autonomous vehicles: US cyclists' attitudes, concerns, and infrastructure needs

Cyclist safety remains an important issue, with U.S. cycling fatalities rising to 966 in 2021 (a 1.9 % increase over 2020). As autonomous vehicles (AVs) become more common in mixed traffic, understanding their safety implications for cyclists is essential, since cyclists lack the physical protection of motor vehicle occupants and depend on predictable interactions to prevent crashes. Existing research rarely explores how cyclists perceive and engage with AVs, leaving infrastructure and communication needs largely underexamined. This study assessed U.S. cyclists' attitudes toward AVs, their anxiety about sharing the road, and their preferences for traffic infrastructure and AV communication interfaces. We conducted an online survey with 231 U.S. cyclists, measuring attitude, perceived usefulness, anxiety, receptivity (cyclists' willingness to access AVs), and preferences for four infrastructure designs and five AV-to-cyclist communication signs. Cyclists reported a positive attitude (mean score of 4.68 out of 7) and perceived usefulness (4.6 out of 7) of AVs despite moderate anxiety (3.48 out of 7). The results of a structural equation modeling analysis show that perceived usefulness and anxiety collectively explained 88 % (Adjusted R 2 ) of the variance in receptivity. Protected cycle lanes with discontinuous (chosen by 68 % of participants) or continuous barriers (74 %) ranked highest for infrastructure. A combined visual/audio sign (52 %) and a cyclist-icon visual sign (47 %) were most preferred for communication. Incorporating cyclist-focused infrastructure and clear multisensory AV communication features can improve acceptance and safety as AVs are integrated into mixed-traffic environments. • Survey reveals U. S. cyclists' concerns and needs for safe AV integration. • Cyclists hold positive attitudes toward AV usefulness but express anxiety. • Perceived usefulness and anxiety predict cyclist AV receptivity. • Cyclists show a strong preference for physically separated bike lanes with AVs. • Visual signs identifying cyclists are preferred for AV-cyclist communication.