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

Table 3

Conflicts by types and AV penetration rates for the roundabout (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)			449.1	449.1
25%	14.8	270.1	165.0	449.9
50%	48.7	275.9	83.0	407.6
75%	108.5	204.7	18.7	331.9
100%	172.9			172.9