The transition to automated driving has prompted efforts to anthropomorphize urban transportation, aiming to replicate traditional driver-pedestrian interactions and enhance safety when human drivers are absent. However, prior research on anthropomorphism has shown inconsistency, potentially hindering its practical implementation in pedestrian-vehicle interactions. This study addressed these inconsistencies by examining the contingent role of social responsiveness. Using a 2 × 2 between-subjects experimental design, this study investigated the crossover interaction effects of anthropomorphism and social responsiveness on pedestrian-vehicle interactions at urban crossings. Two sequential studies were conducted: Study 1 examined the crossover interaction effects on cognitive factors and behavioral consequences (responsibility attribution and behavioral intention). Study 2 delved into the underlying mechanisms and contingencies of these interactions. Results reveal: (1) combining anthropomorphism and social responsiveness is crucial for effective pedestrian crossing and communication in the absence of human drivers; (2) the positive effects of this combination on responsibility attribution and behavioral intention are mediated by cognitive factors; and (3) non-responsive humanoid vehicles may not measure up to non-responsive, non-humanoid vehicles, yet responsive humanoid vehicles can outperform responsive, non-humanoid vehicles. These findings support the theory and guide the development of secure, interactive designs for the next generation of urban mobility in the transition to automated driving.