… connected and autonomous vehicles (CAVs) on traffic safety … the mixed traffic flow with both
conventional vehicles and CAVs … time-to-collision in the mixed traffic flow under different CAV …

… advancements bring the Connected and Autonomous Vehicles (CAVs) era closer to … road
safety by taking the human driver out of the driving task. However, the evaluation of their safety …

… used to model vehicles and the selection of metrics we use to measure traffic flows and road
safety. … To evaluate the impact of CAVs on road safety, we calculate an estimate of the risk of …

… , the impacts of connected and autonomous vehicles (CAVs) on traffic efficiency and safety
are … We also proposed a safety assessment index to evaluate traffic safety. The speed and …

… trajectories which can be used as high precision input data to traffic control algorithms.
From the driver’s standpoint, V2I communications do not directly influence the drivers’ …

… [2] investigated the impact of trucks on the safety of mixed traffic and concluded that traffic
safety … Ye and Yamamoto [5] found that traffic safety of mixed traffic with CAVs, in terms of the …

… the performance of the transportation system by reducing human errors. This paper investigates
the safety impact of CAVs in a mixed traffic with conventional vehicles at intersections. …

… a very small number of vehicles with imperfect … traffic safety and efficiency in realistic
scenarios in terms of imperfect communication, large-reaction time, vehicle modelling, and traffic …

… Automated vehicles (AVs), as one of the most significant … to improve traffic safety since
most of the traffic crashes are … safety measure, for each scenario using the associated critical …

… driving simulator [7–9], field test [10,11] and traffic simulation [12–14], have been used to
explore the effectiveness of CAV on traffic safety … the automated vehicle safety performance, we …