I was thinking about that recently, that there needs to be some kind of “I see you” system. Maybe an external light that tracks you or something. Anything that can help me as a pedestrian understand what its internal state is.
Reminds me of a mail delivery robot at an office that had a feature like that. They had to tweak it because it was freaking out visitors by staring at them during elevator rides.
How hard would it be for all vehicles to broadcast an ID, a location and a velocity and reply with confirmations when one vehicle sees and "hears" another one?