This study examines the perceptions of concerns and benefits surrounding autonomous road vehicles deployed for public transport, their relationships with public acceptance, and what the public prefers during its implementation. Surveying 210 participants in Singapore, we found a general acceptance of the deployment of autonomous road public transport in Singapore with agreement that introducing them would be beneficial, particularly in improving public transport reliability and accessibility. However, they reported concerns in the areas of technical-related issues and legal liability. Participants who perceived greater benefits were also likely to report greater acceptance, even after taking into account their concerns and sociodemographic backgrounds. Participants also reported preferences for human operators to continue playing an active role, the government to test the autonomous vehicles extensively before making them available for public use and greater clarity on the legal liability when accidents involving autonomous vehicles occur when autonomous road public transport is eventually implemented.
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