A Precrash Scenario Analysis Comparing Safety Performance across Autonomous Vehicle Driving Modes

Table 1

37 Specific descriptions of precrash scenarios [22].

No.	Scenarios description
1	Vehicle failure
2	Control loss with prior vehicle action
3	Control loss without prior vehicle action
4	Running red light
5	Running stop sign
6	Road edge departure with prior vehicle maneuver
7	Road edge departure without prior vehicle maneuver
8	Road edge departure while backing up
9	Animal crash with prior vehicle maneuver
10	Animal crash without prior vehicle maneuver
11	Pedestrian crash with prior vehicle maneuver
12	Pedestrian crash without prior vehicle maneuver
13	Pedalcyclist crash with prior vehicle maneuver
14	Pedalcyclist crash without prior vehicle maneuver
15	Backing up into another vehicle
16	Vehicle(s) turning-same direction
17	Vehicle(s) parking-same direction
18	Vehicle(s) changing lanes-same direction
19	Vehicle(s) drifting-same direction
20	Vehicle(s) making a maneuver-opposite direction
21	Vehicle(s) not making a maneuver-opposite direction
22	Following vehicle making a maneuver
23	Lead vehicle accelerating
24	Lead vehicle moving at lower constant speed
25	Lead vehicle decelerating
26	Lead vehicle stopped
27	Left turn across path from opposite directions at signalized junctions
28	Vehicle turning right at signalized junctions
29	Left turn across path from opposite directions at nonsignalized junctions
30	Straight crossing paths at nonsignalized junctions
31	Vehicle(s) turning at nonsignalized junctions
32	Evasive action with prior vehicle maneuver
33	Evasive action without prior vehicle maneuver
34	Noncollision incident
35	Object crash with prior vehicle maneuver
36	Object crash without prior vehicle maneuver
37	Other

Note. Vehicle action refers to a range of maneuvers performed by a vehicle in response to a preceding critical event, including deceleration, acceleration, starting, overtaking, parking, turning, reversing, lane changing, merging, and successful corrective actions. Vehicle maneuver includes braking, acceleration, take-off, passing, parking, turning, reversing, lane change, merging, and successful recovery from a previous vehicle critical event.