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Automated vehicles are emerging on the transportation networks as manufacturers test their automated driving system (ADS) capabilities in complex real-world environments in testing operations like California’s Autonomous Vehicle Tester Program. A more comprehensive understanding of the ADS safety performances can be established through the California Department of Motor Vehicle disengagement and crash reports. This study comprehensively examines the safety performances (159,840 disengagements, 124 crashes, and 3,669,472 automated vehicle miles traveled by the manufacturers) documented since the inauguration of the testing program. The reported disengagements were categorized as control discrepancy, environmental conditions and other road users, hardware and software discrepancy, perception discrepancy, planning discrepancy, and operator takeover. An applicable subset of …