Public trust remains a critical determinant of autonomous vehicle (AV) adoption. Although technological reliability has improved significantly, human hesitation persists due to limited understanding, perceived risks, and the absence of human-like communication. This study develops a conceptual framework—the Trust Communication Model (TCM)—to guide the design of human-centered communication strategies for building public trust in AVs within the Saudi Arabian context. The model integrates four interconnected layers: (1) system transparency, (2) behavioral predictability, (3) human feedback and awareness, and (4) institutional support. Each layer emphasizes the importance of clear, culturally resonant communication that reflects local social norms and values. The paper situates the framework within the principles of human-centered design (HCD), trust in automation, and Vision 2030’s mobility transformation agenda. By embedding human-centered communication into AV design and governance, Saudi Arabia can accelerate public acceptance of autonomous mobility while ensuring safety, inclusivity, and cultural alignment.