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Introduction: While improved safety is a highly cited potential benefit of autonomous vehicles (AVs), at the same time a frequently cited concern is the new safety challenges that AVs introduce. The literature lacks a rigorous exploration of the safety perceptions of road users who will interact with AVs, including vulnerable road users. Addressing this gap is essential because the successful integration of AVs into transportation systems hinges on an understanding of how all road users will react to their presence. Methods: A stated preference survey of the Phoenix, Arizona, metropolitan statistical area (Phoenix MSA) was conducted in July 2018. A series of ordered probit models was estimated to analyze the survey responses and identify differences between various population groups with respect to the perceived safety of driving, cycling, and walking near AVs. Results: Greater exposure to and awareness of AVs are …