As fully autonomous - SAE level 5 - vehicles approach commercialisation, there is need to design and test user interfaces specifically for such use. However, testing in real environments is currently limited or, in many cases, impossible. In this paper, as a solution, we present a dedicated simulator for fully autonomous vehicles. First, we outline the design requirements for this simulator. Inclusive design principles were used to accommodate a large range of diversity in our population. It can thus be used by individuals with visual, auditory and certain physical and cognitive impairments. Second, we describe the capabilities of the simulator in terms of human-robot interaction technologies. We aim to assess both performance and non-performance characteristics of the resulting systems and how they can be integrated in the transportation experience. Third, we collate the knowledge obtained during this project to provide a deeper understanding of human factors in operating fully autonomous vehicles. We hope these results provide a basis for further research and improve the experience of users.

Autonomous vehicles could become an important part of the mobility solution for members of society previously excluded from driving. This paper presents the results of an interview study on users' needs and expectations of fully autonomous vehicles, and specifically on the inclusivity considerations that emerged. Six drivers and two individuals that are currently excluded from driving participated in this study. The main finding was that conventional multimodal interfaces would indeed enable a broader range of users to operate these vehicles. However, fundamental considerations such as the accessibility of displays and easy ingress/egress were of equal importance. We hope the emerging recommendations would form part of an inclusive set of user requirements to be taken into account by industry and academia when designing fully autonomous vehicle user interfaces.