|
| Precrash scenario types | Autonomous driving | Driving takeover | Conventional driving | Total | % |
| N | % | N | % | N | % |
|
| (1) Lead vehicle (AV) stopped | 101 | 43.16 | 5 | 6.10 | 36 | 21.43 | 142 | 29.34 |
|
| (2a) AV changing lanes-same direction | 2 | 0.85 | 2 | 2.44 | 5 | 2.98 | 64 | 13.22 |
| (2b) CV changing lanes-same direction | 29 | 12.39 | 11 | 13.41 | 15 | 8.93 |
|
| (3) Lead vehicle (AV) decelerating | 22 | 9.40 | 12 | 14.63 | 8 | 4.76 | 42 | 8.68 |
|
| (4a) AV backing up into another vehicle | 1 | 0.43 | 5 | 6.10 | 9 | 5.36 | 37 | 7.64 |
| (4b) CV backing up into AV | 11 | 4.70 | 3 | 3.66 | 8 | 4.76 |
|
| (5) Pedalcyclist crash with prior vehicle maneuver | 11 | 4.70 | 15 | 18.29 | 8 | 4.76 | 34 | 7.02 |
|
| (6a) CV turning at nonsignalized junction | 7 | 2.99 | 2 | 2.44 | 3 | 1.79 | 24 | 4.96 |
| (6b) AV turning and CV going straight across path at nonsignalized junction | 1 | 0.43 | 4 | 4.88 | 3 | 1.79 |
| (6c) CV turning and AV going straight across path at nonsignalized junction | 1 | 0.43 | 2 | 2.44 | 1 | 0.60 |
|
| (7a) AV parking-same direction | 1 | 0.43 | 2 | 2.44 | 6 | 3.57 | 20 | 4.13 |
| (7b) CV parking-same direction | 3 | 1.28 | 0 | 0.00 | 8 | 4.76 |
|
| (8a) AV making a maneuver-opposite direction | 1 | 0.43 | 1 | 1.22 | 3 | 1.79 | 18 | 3.72 |
| (8b) CV making a maneuver-opposite direction | 7 | 2.99 | 3 | 3.66 | 3 | 1.79 |
|
| (9) Road edge departure with prior vehicle maneuver | 2 | 0.85 | 3 | 3.66 | 8 | 4.76 | 13 | 2.69 |
|
| (10a) AV turning-same direction | 1 | 0.43 | 0 | 0.00 | 2 | 1.19 | 12 | 2.48 |
| (10b) CV turning-same direction | 5 | 2.14 | 2 | 2.44 | 2 | 1.19 |
|
| (11) Pedalcyclist crash without prior vehicle maneuver | 3 | 1.28 | 2 | 2.44 | 6 | 3.57 | 11 | 2.27 |
|
| (12a) AV drifting-same direction | 0 | 0.00 | 2 | 2.44 | 6 | 3.57 | 11 | 2.27 |
| (12b) CV drifting-same direction | 2 | 0.85 | 0 | 0.00 | 1 | 0.60 |
|
| (13a) Following AV making a maneuver | 0 | 0.00 | 0 | 0.00 | 3 | 1.79 | 9 | 1.86 |
| (13b) Following CV making a maneuver | 5 | 2.14 | 0 | 0.00 | 1 | 0.60 |
|
| (14) Object crash without prior vehicle maneuver | 2 | 0.85 | 0 | 0.00 | 5 | 2.98 | 7 | 1.45 |
|
| (15a) AV left turn across path from opposite directions at signalized junctions | 1 | 0.43 | 0 | 0.00 | 2 | 1.19 | 5 | 1.03 |
| (15b) CV left turn across path from opposite directions at signalized junctions | 2 | 0.85 | 0 | 0.00 | 0 | 0.00 |
|
| (16) CV running red light | 0 | 0.00 | 3 | 3.66 | 2 | 1.19 | 5 | 1.03 |
|
| (17) Lead vehicle (AV) accelerating | 3 | 1.28 | 0 | 0.00 | 1 | 0.60 | 4 | 0.83 |
|
| (18) CV running stop sign | 2 | 0.85 | 1 | 1.22 | 1 | 0.60 | 4 | 0.83 |
|
| (19) Object crash with prior vehicle maneuver | 0 | 0.00 | 0 | 0.00 | 4 | 2.38 | 4 | 0.83 |
|
| (20) Pedestrian crash without prior vehicle maneuver | 2 | 0.85 | 0 | 0.00 | 1 | 0.60 | 3 | 0.62 |
|
| (21) Lead vehicle (AV) moving at lower constant speed | 2 | 0.85 | 0 | 0.00 | 1 | 0.60 | 3 | 0.62 |
|
| (22a) AV straight crossing paths at nonsignalized junctions | 0 | 0.00 | 0 | 0.00 | 1 | 0.60 | 3 | 0.62 |
| (22b) CV straight crossing paths at nonsignalized junctions | 1 | 0.43 | 1 | 1.22 | 0 | 0.00 |
|
| (23) Pedestrian crash with prior vehicle maneuver | 0 | 0.00 | 1 | 1.22 | 0 | 0.00 | 1 | 0.21 |
|
| (24) Other (such as ADS failure and scrape when opening the door) | 3 | 1.28 | 0 | 0.00 | 5 | 2.98 | 8 | 1.65 |
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