Automated vehicles (AVs) provide numerous advantages over manually operated vehicles, but the extent of these benefits depends on whether we engage with AVs safely and efficiently. To achieve such interactions with AVs, an appropriate – or calibrated – level of trust in AVs especially during critical scenarios, is fundamental. The trust level also impacts individuals’ decisions regarding the utilisation of AV technology. This study investigates trust calibration and factors that influence how trust develops in AVs compared to human drivers. Two groups of participants underwent a driving simulation, experiencing either a ride in a human-driven taxi or an AV, during which a dangerous situation occurred. Before, during and after the simulation, the passengers’ trust was measured.Pre-simulation trust was higher in the human driver than in the AV, but this difference disappeared after the simulation. Noticeably, during the simulation trust did not differ between the groups. Instead, the critical situation significantly influenced trust: following the dangerous incident, trust levels in both conditions dropped but recovered until the simulation ended. Additionally, self-esteem, which has been associated with trust in the past, was investigated. However, no significant relationship between self-esteem and trust was found in this study. Overall, the findings indicate that the dangerous situation prompted heightened caution among participants. A process of trust calibration was initiated in which the participants’ trust was highly susceptible to the driving style of the driver/AV. Moreover, the comparable evolution of trust in the human-driven vehicle and the AV, sheds light on the dynamics underlying attitudes towards AVs.