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The purpose of this study is to examine current status of social acceptance for autonomous vehicles and drive socio-economic parameters that have major effects on their perception. Especially, this research focused on the effects of prior knowledge on autonomous vehicles. To examine the perception, authors conducted surveys recruiting 1,000 respondents drawn from general public. Ordinal logistic regression model was adopter for analyzing parameters. The authors found that socio-economic factors including age and marital status along with prior knowledge on autonomous vehicles had significant effects on ponderers’ perception.