Table 2 Variable Definitions and Summary Statistics of Crashes from Our Dataset²².

Intersection

Dummy

=1 (if crash location was intersection); =0 (otherwise)

F (1) = 63%

Signal (signalised/ non-signalised intersection given that crash happened at an intersection)

Binary

=1 (with signals); =0 (without)

F (1) = 49%

Parking provision (Presence of parking at crash location)

Binary

=1 (with parking provision); =0 (without the provision of on-street parking)

F (1) = 56%

Mode (AV’s driving mode)

Binary

=1 (autonomous); =0 (conventional)

F (1) = 54%

Fault (Party responsible for the crash)

Binary

=1 (AV at fault); =0 (not at fault) The fault determination protocol is similar to the fault determination in the case of manual driven vehicles.

F (1) = 12%

AV status (Kinematics of AV)

Binary

=1 (moving); =0 (stopped)

F (1) = 57%

Other party’s vehicle status (Kinematics of non-AV)

Binary

=1 (moving); =0 (stopped)

F (1) = 95%

Road type

Dummy

=1 (street); =0 (otherwise)

F (1) = 69%

Vehicle type (Indicator of non-AV vehicle’s size)

Categorical

=1 (two-wheelers, i.e. bicycle, scooter); =2 (sub-compact/compact cars);

these are identified as having an inside volume between 2.4m3 and 3.1m3 by combining cargo and passenger volume. =3 (mid-size cars)

these are identified as having an interior volume between 3.1m3 and 3.4m3. =4 (trucks/buses).

F (1) = 12%

F (2) = 41%

F (3) = 36%

F (4) = 12%

Collision type (Typology of collision)

Categorical

=1 (sideswipe); =2 (rear-end); =3 (others)

F (1) = 21.80%

F (2) = 61.20%

F (3) = 17%

Intersection Type (Type of intersection given that crash happened at an intersection)

Categorical

=0 (straight); =1 (Y-intersection); =2 (T-intersection); =3 (Cross-intersection); =4 (Complex intersection)

F(0) = 9%

F(1) = 11%

F(2) = 15%

F(3) = 59%

F(4) = 5%

Relative Velocity

Continuous

Relative velocity of the vehicles involved in the crash at the time of impact.

Reported only by a few manufacturers (176 out of 259 crashes reported relative speed)