<p id=”p-0001″ num=”0000″>A device and method for autonomous vehicle-to-human communications are disclosed. Upon detecting a human traffic participant being proximal to a traffic yield condition of a vehicle planned route, generating a message for broadcast to the human traffic participant and sensing whether the human traffic participant acknowledges a receipt of the message. When sensing that the human traffic participant acknowledges receipt of the message, generating a vehicle acknowledgment message for broadcast to the pedestrian.</p>