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Due to the ongoing enormous infrastructural developments and car ownership culture in Qatar, it could be one of those countries to introduce Autonomous Vehicles (AV) technology at the early stages. Therefore, this study surveyed a number of residents at the State of Qatar to improve our understandings of their perceptions regarding overall safety of AV (General_safety), safety due to the fact that AV could eliminate human errors (Human_errors), safety due to the interactions between Human-Driven Vehicles (HDV) and AV (HDV-AV_interactions), performance in harsh environmental conditions, security, comfort level, travel time, congestion and operational costs. In addition, the study uncovered the relationships of public perceptions towards AV and some other contextual factors with the willingness to adopt it in the future. To study these relations, we relied on a Structural Equation Modeling. Overall, the results …