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Despite the potential of autonomous vehicles (AV) to improve traffic efficiency and safety, many studies have shown that traffic accidents in a hybrid traffic environment where both AVs and human-driven vehicles (HVs) are present are inevitable because of the unpredictability of HVs. Given that eliminating accidents is impossible, an achievable goal is to design AVs in a way so that they will not be blamed for any accident in which they are involved in. In this paper, we propose BlaFT Rules – or Bla me- F ree hybrid T raffic motion planning Rules . An AV following BlaFT Rules is designed to be cooperative with HVs as well as other AVs, and will not be blamed for accidents in a structured road environment. We provide proofs that no accident will happen if all AVs are using a BlaFT Rules conforming motion planner, and that an AV using BlaFT Rules will be blame-free even if it is involved in a collision in hybrid …