Table 1.

The details of five conflict scenarios.

Scenario	Driving Direction	Conflict Situation	Conflict Type
1	Straight	The test vehicle conflicted with pedestrians crossing the road from west to east when it drove straight into an unsignalized intersection from south to north.	M-P
2	Right-turning	The test vehicle drove from south to north and then turned right into the intersection and conflicted with a motor vehicle traveling straight from west to east.	M-M
3	Straight	When the road is full of vehicles on the left side, the test vehicle goes straight through the intersection and conflicts with non-motor vehicles traveling from north to south.	M-N
4	Left-turning	When the test vehicle turned left and passed an unsignalized intersection, it collided with the motor vehicle test in two straight directions (from west to east and from south to north).	M-M
5	Straight	The test vehicle drove straight through the intersection from west to east and conflicted with a right-turning motor vehicle entering the main lane.	M-M

Note: Mark motor vehicles, non-motor vehicles, and pedestrians as M, N, and P, respectively.