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

Table 9

Calculation results of the danger level of different driving modes in the AV precrash scenario.

Scenario	Driving mode	C1 (N)	C2 (%)	D1 (%)	D2 (%)	D3 (%)	D4 (%)	E1 (%)	E2 (%)	Rating value
1	Autonomous driving	2.01	43.16	0.99	10.89	81.19	6.93	20.79	79.21	0.384
	Driving takeover	2	6.10	0.00	20.00	80.00	0.00	0.00	100.00	0.288
	Conventional driving	2	21.43	2.78	16.67	66.67	13.89	16.67	83.33	0.354
2b	Autonomous driving	2	12.39	0.00	17.24	75.86	6.90	10.34	89.66	0.324
	Driving takeover	2	13.41	0.00	27.27	72.73	0.00	0.00	100.00	0.298
	Conventional driving	2.2	8.93	6.67	26.67	60.00	6.67	6.67	93.33	0.329
3	Autonomous driving	2	9.40	4.55	13.64	81.82	0.00	13.64	86.36	0.337
	Driving takeover	2	14.63	8.33	25.00	58.33	8.33	50.00	50.00	0.461
	Conventional driving	2	4.76	0.00	0.00	100.00	0.00	12.50	87.50	0.319