This paper reports on research on responsible innovation for last-mile urban delivery. We designed, developed and tested a fleet of autonomous electric vehicles that operate in a new urban district developed as part of the federal horticulture exhibition 2019 in Heilbronn, Germany. Hereby not only the technical aspects play an important role but also the acceptance of the stakeholders. Thereby, the technical and technological innovation of the entire system is guided by the interactivity with the users. They are able to interact with the system by planning, modifying and monitoring their delivery requests in real time. All different usage scenarios together with the human machine interfaces were co-designed in a participatory way with users from the new neighborhood by an interdisciplinary team of engineers, logistics experts, behavioral scientists, designers, and developers. In this context, the research deals with both social and technical innovation. The ability to identify and describe processes that can be used as models for the implementation of such innovations and that can be reproduced in similar contexts is crucial to meet the challenges of digitalization and automation in mobility with regard to demographic change and the trend towards reurbanization.