Studying the Safety Impact of Autonomous Vehicles Using Simulation-Based Surrogate Safety Measures

Table 2

Conflicts by types and AV penetration rates for the signalised intersection (AV-1 parameters and 0.75 s TTC threshold for AV-AV conflicts).

Penetration rate	Conflict type			Total
	AV-AV	AV-HV	HV-HV
0% (base case)			863.3	863.3
25%	23.9	326.7	365.7	716.2
50%	85.8	389.1	148.2	623.1
75%	182.1	286.4	41.7	510.1
100%	411.9			411.9