Development of Risk-Situation Scenario for Autonomous Vehicles on Expressway Using Topic Modeling

Table 1

Triggering conditions related to-traffic situations.

Road geometry	Behavior of automated vehicle (AV)	Location of nearby vehicles	Behavior of nearby vehicles
Main lane	Lane keeping	Trailing	Cut-in
Merging lane	Lane change	Leading	Cut-out
Split		Side-by-side	Acceleration
Ramp			Deceleration
			Synchronization