The rapid advancement of artificial intelligence and autonomous driving technologies has significantly propelled the development of autonomous vehicles (AVs). However, psychological barriers continue to impede widespread AV adoption, despite technological progress. This paper addresses the critical yet often overlooked aspect of psychological safety in AV design and operation. While traditional safety standards focus primarily on physical safety, this paper emphasizes the psychological implications that arise from human interactions with autonomous vehicles, highlighting the importance of trust and perceived risk as significant factors influencing user acceptance. The paper makes a methodological proposal, a framework for addressing AVs psychological safety consisting of three key contributions. First, it introduces a definition of psychological safety in AVs context. Secondly, it proposes a risk model for identifying and assessing AVs psychological hazards and risks. PsySIL (Psychological Safety Integrity Level), a classification of AV psychological risk levels is developed. Thirdly, an adapted system-theoretic analysis method for AVs psychological safety is proposed. The paper illustrates the application of the framework for assessing potential psychological hazards using a scenario involving a family's experience with an autonomous vehicle, pioneering a systems approach towards evaluating situations that could lead to psychological harm. By establishing a framework that incorporates psychological safety alongside physical safety, the paper contributes to the broader discourse on the safe deployment of autonomous vehicle, aiming to guide future developments in user-centred design and regulatory practices, while acknowledging the limitations brought by the application of the proposals on a rather simple but pedagogical illustrative example.