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Driving errors and violations are identified as contributing factors in most crash events. To examine the role of human factors and improve crash investigations, a systematic taxonomy of driver errors and violations (TDEV) is developed. The TDEV classifies driver errors and violations based on their occurrence during the theoretically based perception-reaction process and analyzes their contributions in safety critical events. To empirically explore errors and violations, made by drivers of instrumented vehicles, in diverse built environments, this study harnesses unique and highly detailed pre-crash sensor data collected in the Naturalistic Driving Study (NDS), containing 673 crashes, 1,331 near-crashes and 7,589 baselines (no-event). Human factors are categorized into recognition errors, decision errors, performance errors, and errors due to the drivers’ physical condition or their lack of contextual experience …