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With the increased deployment of autonomous vehicles (AVs) in mixed traffic flow, ensuring safe and efficient interactions between AVs and human road users is important. In urban environments, intersections have various conflicts that can greatly affect driving safety and traffic efficiency. This study uses road test data to examine the possible safety and efficiency impacts of intersection conflict resolution involving AVs. The contribution comprises two main aspects. Firstly. we prepare and open a high-quality lateral conflict resolution dataset derived from the Argoverse-2 data, specifically targeting urban intersections. A rigorous data processing pipeline is applied to extract pertinent scenarios, rectify anomalies, enhance data quality, and annotate conflict regimes. This effort yields 5000+ AV-involved and 16000 AV-free cases, covering rich conflict regimes and balanced traffic states. Secondly, we employ surrogate safety measures to assess the safety impact of AVs on human-driven vehicles (HVs) and pedestrians. In addition, a novel concept of Minimum Recurrent Clearance Time (MRCT) is proposed to quantify the traffic efficiency impacts of AVs during conflict resolution. The results show that, for AV–HV and HV–HV conflict resolution processes, the differences in selected safety and efficiency measures for human drivers are statistically insignificant. In contrast, pedestrians demonstrate diverse behaviour adjustments. Some pedestrians behave more conservatively when interacting with AVs than with HVs. Notably, the efficiency of AV-involved conflict resolution is significantly lower than in AV-free instances due to the conservative driving style of AVs. This efficiency gap is particularly large when AVs pass through the conflict point after human drivers in unprotected left turns. These observations offer a perspective on how AVs potentially affect the safety and efficiency of mixed traffic. The processed dataset is openly available via https: //github. com/RomainLITUD/conflictᵣesolutiondataset. • Provide a guideline for assessing AV impact using real-world motion data. • Prepare an urban intersection conflict resolution dataset from Argoverse-2. • Assess safety and efficiency impacts of AVs at intersections with the dataset. • Introduce MRCT to estimate conflict resolution efficiency at intersections. • Study if human road users behave differently in conflicts with AV at intersections.
Li et al. (Sun,) studied this question.