DOT HS 811 381 October 2010

Frequency of Target Crashes for 

IntelliDrive Safety Systems
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October 2010 

3. REPORT TYPE AND DATES COVERED 

August 2009 – February 2010 

4. TITLE AND SUBTITLE 

Frequency of Target Crashes for IntelliDrive Safety Systems 

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HS-60A1 

DTNH22-09-V-00030 6. AUTHOR(S) 

Wassim G. Najm, Jonathan Koopmann, John D. Smith, and John Brewer 

7. PERFORMING ORGANIZATION NAME(S) AND ADDRESS(ES) 

U.S. Department of Transportation 

Research and Innovative Technology Administration 

John A. Volpe National Transportation Systems Center 

Cambridge, MA 02142

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REPORT NUMBER 

9. SPONSORING/MONITORING AGENCY NAME(S) AND ADDRESS(ES) 

John Harding 

U.S. Department of Transportation 

National Highway Traffic Safety Administration 

1200 New Jersey Avenue SE., Washington, DC 20590 

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 AGENCY REPORT NUMBER 

DOT HS 811 381 

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Document is available to the public through the National Technical Information Service 

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13. ABSTRACT (Maximum 200 words) 

This report estimates the frequency of different crash types that would potentially be addressed by various categories of 

Intelligent Transportation Systems as part of the IntelliDriveSM safety systems program. Crash types include light-vehicle crashes 

involving at least one light vehicle with gross vehicle weight rating (GVWR) of 10,000 pounds or less, heavy-truck crashes 

involving at least one heavy truck with GVWR greater than 10,000 pounds, and crashes involving all vehicle types. Crash 

frequency estimates are based on samples of police-reported crashes from the 2005-2008 General Estimates System crash 

databases. System categories encompass vehicle-to-vehicle (V2V) communication systems, vehicle-to-infrastructure (V2I) 

cooperative systems, and combination of V2V and V2I systems. The frequency of target crashes is derived from pre-crash 

scenarios described in police-reported crashes involving unimpaired drivers. V2V systems potentially address 79 percent of all

vehicle target crashes, 81 percent of all light-vehicle target crashes, and 71 percent of all heavy-truck target crashes. V2I systems 

potentially deal with 26 percent all vehicle target crashes, 27 percent of all light-vehicle target crashes, and 15 percent of all 

heavy-truck target crashes. Combined V2V and V2I systems potentially address 81 percent all vehicle target crashes, 83 percent

of all light-vehicle target crashes, and 72 percent of all heavy-truck target crashes. 

14. SUBJECT TERMS 

IntelliDrive, Intelligent Transportation Systems, light vehicles, heavy trucks, vehicle-to-vehicle 

communications, vehicle-to-infrastructure communications, autonomous vehicle-based systems, 

police-reported crashes, General Estimates System, and pre-crash scenarios. 

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i 

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TABLE OF CONTENTS 

EXECUTIVE SUMMARY ........................................................................................................... vi

I. INTRODUCTION ....................................................................................................................... 1

I.1. Objective ............................................................................................................................... 1

I.2. System Categories ................................................................................................................ 1

I.3. Target Crash Types ............................................................................................................... 2

I.4. Crash Data Sources ............................................................................................................... 2

I.5. General Description of Target Crashes ................................................................................ 3

II. VEHICLE-TO-VEHICLE SAFETY SYSTEMS....................................................................... 5

II.1. V2V System Description ..................................................................................................... 5

II.2. V2V Systems as Primary Countermeasure in All-Vehicle Crashes .................................... 5

II.3. V2V Systems as Primary Countermeasure in Light-Vehicle Crashes ................................ 6

II.4. V2V Systems as Primary Countermeasure in Heavy Truck Crashes .................................. 8

III. VEHICLE-TO-INFRASTRUCTURE SAFETY SYSTEMS ................................................. 10

III.1. V2I System Description ................................................................................................... 10

III.2. V2I Systems as Primary Countermeasure in All-Vehicle Crashes .................................. 10

III.3. V2I Systems as Primary Countermeasure in Light-Vehicle Crashes .............................. 11

III.4. V2I Systems as Primary Countermeasure in Heavy-Truck Crashes ............................... 13

IV. COMBINED V2V AND V2I SYSTEMS .............................................................................. 15

IV.1. Combined V2V and V2I Systems as Primary Countermeasure in All-Vehicle Crashes 15

IV.2. Combined V2V and V2I Systems as Primary Countermeasure in Light-Vehicle Crashes

................................................................................................................................................... 16

IV.3. Combined V2V and V2I Systems as Primary Countermeasure in Heavy-Truck Crashes

................................................................................................................................................... 17

V. CONCLUSIONS ...................................................................................................................... 20

V.1. Analytical Results ............................................................................................................. 20

V.2. Follow-On Research ......................................................................................................... 24

VI. REFERENCES ....................................................................................................................... 25

Appendix A. Mapping of Pre-Crash Scenarios to System Categories .......................................... 26

Appendix B. Distribution of Pre-Crash Scenario by System Category–V2V System Primary .... 33

Appendix C. Distribution of Pre-Crash Scenario by System Category–V2I System Primary ..... 36

Appendix D. Distribution of Pre-Crash Scenario by System Category–Combined V2V and V2I 

System Primary ............................................................................................................................. 39

ii 
iii 

LIST OF FIGURES

Figure 1. Estimated Annual Crashes by Vehicle Involvement (2005-2008 GES) ......................... 3

Figure 2. Estimated Annual Crashes of Unimpaired Drivers by Vehicle Involvement .................. 4

Figure 3. Distribution of Unimpaired All-Vehicle Crashes by System, V2V as Primary 

Countermeasure .............................................................................................................................. 6

Figure 4. Annual Target All-Vehicle Crashes by System, V2V as Primary Countermeasure ....... 6

Figure 5. Distribution of Unimpaired Light-Vehicle Crashes by System, V2V as Primary 

Countermeasure .............................................................................................................................. 7

Figure 6. Annual Target Light-Vehicle Crashes by System, V2V as Primary Countermeasure .... 7

Figure 7. Distribution of Unimpaired Heavy-Truck Crashes by System, V2V as Primary 

Countermeasure .............................................................................................................................. 8

Figure 8. Annual Target Heavy-Truck Crashes by System, V2V as Primary Countermeasure ..... 9

Figure 9. Distribution of Unimpaired All-Vehicle Crashes by System, V2I as Primary 

Countermeasure ............................................................................................................................ 11

Figure 10. Annual Target All-Vehicle Crashes by System, V2I as Primary Countermeasure ..... 11

Figure 11. Distribution of Unimpaired Light-Vehicle Crashes by System, V2I as Primary 

Countermeasure ............................................................................................................................ 12

Figure 12. Annual Target Light-Vehicle Crashes by System, V2I as Primary Countermeasure . 13

Figure 13. Distribution of Unimpaired Heavy-Truck Crashes by System, V2I as Primary 

Countermeasure ............................................................................................................................ 14

Figure 14. Annual Target Heavy-Truck Crashes by System, V2I as Primary Countermeasure .. 14

Figure 15. Distribution of Unimpaired All-Vehicle Crashes by System, Combined V2V and V2I 

Systems as Primary Countermeasure ............................................................................................ 15

Figure 16. Annual Target All-Vehicle Crashes by System, Combined V2V and V2I Systems as 

Primary Countermeasure .............................................................................................................. 16

Figure 17. Distribution of Unimpaired Light-Vehicle Crashes by System, Combined V2V and 

V2I Systems as Primary Countermeasure..................................................................................... 17

Figure 18. Annual Target Light-Vehicle Crashes by System, Combined V2V and V2I Systems as 

Primary Countermeasure .............................................................................................................. 17

Figure 19. Distribution of Unimpaired Heavy-Truck Crashes by System, Combined V2V and 

V2I Systems as Primary Countermeasure..................................................................................... 18

Figure 20. Annual Target Heavy-Truck Crashes by System, Combined V2V and V2I Systems as 

Primary Countermeasure .............................................................................................................. 19

Figure 21. Comparison of Annual Target All-Vehicle Crashes Among System Categories ........ 20

Figure 22. Comparison of Relative Target All-Vehicle Crashes Among System Categories ...... 21

Figure 23. Comparison of Annual Target Light-Vehicle Crashes Among System Categories .... 22

Figure 24. Comparison of Relative Target Light-Vehicle Crashes Among System Categories .. 22

Figure 25. Comparison of Annual Target Heavy-Truck Crashes Among System Categories ..... 23

Figure 26. Comparison of Relative Target Heavy-Truck Crashes Among System Categories .... 23

Figure 27. Percent Applicability of System Categories to Target Crash Types ........................... 23
iv 

LIST OF TABLES 

Table 1. Distribution of Crashes by Driver Condition .................................................................... 3

Table A1. Mapping of Pre-Crash Scenarios to System Categories - V2V System Primary ....... 26

Table A2. Mapping of Pre-Crash Scenarios to System Categories - V2I System Primary .......... 28

Table A3. Mapping of Pre-Crash Scenarios to System Categories – V2V+V2I System Primary 30

Table A4. Mapping of Pre-Crash Scenarios to System Categories – AV System Primary .......... 31

Table B1. Target All-Vehicle Crash Data for V2V Systems as Primary Countermeasure .......... 33

Table B2. Target Light-Vehicle Crash Data for V2V Systems as Primary Countermeasure ....... 34

Table B3. Target Heavy-Truck Crash Data for V2V Systems as Primary Countermeasure ........ 35

Table C1. Target All-Vehicle Crash Data for V2I Systems as Primary Countermeasure ............ 36

Table C2. Target Light-Vehicle Crash Data for V2I Systems as Primary Countermeasure ........ 37

Table C3. Target Heavy-Truck Crash Data for V2I Systems as Primary Countermeasure ......... 38

Table D1. Target All-Vehicle Crash Data for Combined V2V and V2I Systems as Primary 

Countermeasure ............................................................................................................................ 39

Table D2. Target Light-Vehicle Crash Data for Combined V2V and V2I Systems as Primary 

Countermeasure ............................................................................................................................ 40

Table D3. Target Heavy-Truck Crash Data for Combined V2V and V2I Systems as Primary 

Countermeasure ............................................................................................................................ 41
LIST OF ACRONYMS 

AV Autonomous Vehicle 

CAMP Crash Avoidance Metrics Partnership 

CICAS Cooperative Intersection Collision Avoidance Systems 

GES General Estimates System 

GVWR Gross Vehicle Weight Rating 

ITS Intelligent Transportation Systems 

NASS National Automotive Sampling System 

PR Police Reported 

VSC-A Vehicle Safety Communications – Applications 

U.S. DOT United States Department of Transportation 

V2I Vehicle-to-Infrastructure 

V2V Vehicle-to-Vehicle 

v 
EXECUTIVE SUMMARY 

A preliminary analysis was conducted to estimate the annual frequency of crashes that would 

potentially be addressed by communication-based safety applications as part of the Intelligent 

Transportation Systems’ IntelliDriveSM safety systems program. These safety applications 

incorporate vehicle-to-vehicle communications or vehicle-to-infrastructure cooperation to 

increase situational awareness and reduce or eliminate crashes through V2V and V2I data 

transmission that supports driver advisories, driver warnings, and vehicle and/or infrastructure 

controls. The analysis focused on crash avoidance systems that assist drivers in preventing 

imminent crashes. Such impending crashes usually arise within a relatively short period of time 

(e.g., under 10 seconds) from the drivers’ encounter with hazardous driving conditions. 

This report estimates the annual frequency of three different types of target crashes that might be 

addressed with V2V and V2I safety applications based on the 2005-2008 General Estimates 

System crash databases. The three different crash types consist of light-vehicle, heavy-truck, and 

all-vehicle crashes. Light-vehicle crashes involve at least one light vehicle with gross vehicle 

weight rating (GVWR) of 10,000 pounds or less. Heavy-truck crashes involve at least one heavy 

truck, single unit or multiple units, with GVWR over 10,000 pounds. All-vehicle crashes 

account for all crashes involving all motor vehicle platforms. Target crashes are measured by the 

number of police-reported crashes in each of these three crash types. This analysis excludes 

drivers with physiological impairment such as intoxication or drowsiness because such driver 

conditions are addressed by autonomous vehicle-based countermeasure systems. 

The mapping of target crashes to each system category is performed using a set of pre-crash 

scenarios that describe vehicle movements and critical events prior to the crash. To avoid double 

counting, target crashes are first determined for a primary system category and the remainder of 

the crash population is later assigned to the other system category. As a primary 

countermeasure: 







V2V systems potentially address about 4,409,000 police-reported or 79 percent of allvehicle target crashes, 4,336,000 PR or 81 percent of all light-vehicle target crashes, and 

267,000 PR or 71 percent of all heavy-truck target crashes annually. 

V2I systems potentially address about 1,465,000 PR or 26 percent of all-vehicle target 

crashes, 1,431,000 PR or 27 percent of all light-vehicle target crashes, and 55,000 PR or 

15 percent of all heavy-truck target crashes annually. 

Combined V2V and V2I systems potentially address about 4,503,000 PR or 81 percent 

of all-vehicle target crashes, 4,417,000 PR or 83 percent of all light-vehicle target crashes, 

and 272,000 PR or 72 percent of all heavy-truck target crashes annually. 

* IntelliDrive is a servicemark of the U.S. Department of Transportation

vi 
I. INTRODUCTION 

I.1. Objective 

The objective of this report is to estimate the upper limit of annual police-reported crashes that 

could potentially be addressed with IntelliDrive safety systems based on vehicle-to-vehicle 

communications or vehicle-to-infrastructure cooperation. This analysis supports the 

development of V2V and V2I safety applications and the estimation of their safety benefits as 

described in the United States Department of Transportation’s IntelliDrive Program Vehicle-toVehicle Safety Application Research Plan [1] and the Intelligent Transportation Systems 

Strategic Research Plan, 2010-2014. [2] IntelliDrive safety applications will be designed to 

increase situational awareness and reduce or eliminate crashes through V2V and V2I data 

transmission that supports driver advisories, driver warnings, and vehicle and/or infrastructure 

controls. 

This report presents the results of a high-level crash analysis that sets the foundation for followon detailed crash analyses to define the functional requirements of IntelliDrive safety 

applications. In addition to the frequency of target crashes, the detailed crash analyses will 

measure the severity of crashes and will identify crash causes, contributing factors, and 

circumstances. 

I.2. System Categories 

This analysis focuses on crash avoidance systems that assist drivers in preventing imminent 

crashes. Such impending crashes usually arise within a relatively short period of time (e.g., 

under 10 seconds) from the drivers’ encounter with hazardous driving conditions. These crash 

avoidance systems increase the situational awareness or warn the driver of crash-imminent 

situations, and may apply partial automatic vehicle control in support of the driver. Examples of 

such systems include rear-end crash warning, lane departure warning, red light violation warning, 

and head-on crash warning systems. Excluded from these system categories are vehicle control 

systems such as stability control or anti-lock brakes. 

IntelliDrive systems are broadly categorized as V2V and V2I systems. They are considered 

separately and as a combined system in this report. Descriptions of these systems are found in 

subsequent chapters. 

Autonomous vehicle based systems are also considered to evaluate what additional safety 

enhancements they can effect. Target crashes for AV systems are based on the capability of 

currently available prototypes or products that incorporate remote sensors such as radar, lidar, 

and/or camera to detect obstacles and track lane markers. Some AV systems also employ onboard maps and global positioning system to correlate vehicle location and dynamics to the 

surrounding driving environment. Applicable crashes include rear-end crashes, lane departures, 

lane change or merge crashes, curve speed or excessive speeding crashes, and stop sign 

violations. It is assumed that AV systems could potentially address pedestrian, cyclist, and 

animal crashes as well as loss of control, road departure, and maneuver crashes in which 

speeding is a contributing factor. 

1 
2 

I.3. Target Crash Types 

This report estimates the frequency of three different types of target crashes that would 

potentially be addressed with V2V and V2I safety applications. Frequency estimates are based 

on samples of police-reported crashes that involve unimpaired drivers. Moreover, these 

estimates are derived from statistics of pre-crash scenarios that represent vehicle movements and 

dynamics as well as the critical event occurring immediately prior to the crash. The three 

different crash types consist of light-vehicle, heavy-truck, and all-vehicle crashes. Light-vehicle 

crashes involve at least on light vehicle with GVWR of 10,000 pounds (4,536 kilograms) or less. 

Light vehicles encompass all passenger cars, vans, minivans, sports utility vehicles, and light 

pickup trucks. Heavy-truck crashes involve at least on heavy truck with GVWR over 10,000 

pounds. Heavy trucks include single-unit and multi-unit heavy trucks. All-vehicle crashes 

account for all crashes involving all motor vehicle platforms. 

This analysis excludes crashes that involve impaired driver conditions such as being drowsy or 

drunk. Conditions of drowsiness or under the influence may be addressed with vehicle-based 

systems that alert the driver of his/her condition at any time during driving when the condition is 

detected. The detection of such conditions may occur whether or not the vehicle is in a crash 

imminent situation. The focus of this report is on crash-imminent situations where the driver 

may be able to take an evasive action in response to a system alert (e.g., braking or steering). If 

alerted to a drowsy condition, the driver may choose to slow down and pull over to the side of 

the road. Moreover, this analysis assumes that the crash warning system concepts only alert the 

driver or vehicle of interest such as the following vehicle in rear-end pre-crash scenarios, the 

vehicle making a lane change in lane change pre-crash scenarios, or the driver violating the 

traffic control device in red light running. 

I.4. Crash Data Sources 

Target crashes are derived from the National Automotive Sampling System (NASS) General 

Estimates System national crash database. [3] This database was selected for this analysis 

because it contains the pre-crash variables needed to identify pre-crash scenarios. This database 

estimates the national crash population each year based on a weighted sample of about 55,000 

police-reported crash cases that include all vehicle types and injury levels. This analysis 

calculates the average annual number of crashes based on the yearly crashes over a four-year 

period using the 2005-2008 GES datasets. It should be noted that these crash estimates do not 

account for crashes that are not reported to the police. The national estimates produced from the 

GES data may differ from the true population values because they are based on a probability 

sample of police-reported crashes rather than a census of all crashes. Thus, this report provides 

the target crash estimates along with the 95 percent confidence intervals for each estimate. 

Figure 1 provides the estimated annual number of crashes by vehicle involvement. It should be 

noted that the light-vehicle and heavy-truck crashes are not mutually exclusive. Moreover, this 

analysis used imputed GES variables where available. 
7,000,000

y

6,000,000

ncque

5,000,000

erF

4,000,000 5,977,000

hs

5,726,000 a

3,000,000

Cr Annual

2,000,000

1,000,000 384,000

‐

All Vehicles LightVehicles Heavy Trucks

CrashTypes

Figure 1. Estimated Annual Crashes by Vehicle Involvement (2005-2008 GES)

3 

I.5. General Description of Target Crashes 

The system categories encompass any crash countermeasure that assists drivers without any 

physiological impairment such as intoxication or drowsiness. As indicated earlier in this report, 

these impairments can potentially be addressed with autonomous vehicle-based systems that 

would prevent a drunk driver from starting the vehicle or would alert a drowsy driver of his or 

her condition to pull over. Thus, this report quantifies target crashes that only involve 

unimpaired drivers. Table 1 shows the distribution of police-reported crashes in the three crash 

types by driver condition based on 2005-2008 GES statistics. Figure 2 presents estimates of the 

annual number of police-reported crashes involving unimpaired drivers by vehicle involvement. 

Table 1. Distribution of Crashes by Driver Condition

Impairment Light Vehicles Heavy Trucks All Vehicles 

Unimpaired 93% 98% 93% 

Alcohol 5% 1% 5% 

Drowsy 2% 1% 2% 
7,000,000

y

6,000,000

ncque

5,000,000

erF

4,000,000

hs

5,595,000 a

5,355,000 3,000,000

Cr Annual

2,000,000

1,000,000 375,000

‐

All Vehicles LightVehicles Heavy Trucks

CrashTypes

Figure 2. Estimated Annual Crashes of Unimpaired Drivers by Vehicle Involvement 

(2005-2008 GES)

4 

The following sections of this report estimate the annual number of police-reported crashes that 

might be applicable to V2V, V2I, and combined V2V-V2I system categories, respectively. 

Target crashes are measured by the number of police-reported crashes in each of the three crash 

types: all vehicles, light vehicles, and heavy trucks. The mapping of target crashes to each 

system category is performed using a set of pre-crash scenarios that describe vehicle movements 

and critical events prior to the crash. [4] To avoid double counting, target crashes are first 

determined for a primary system category and the remainder of the crash population is later 

assigned to the other two system categories. Thus, different analyses are conducted for each 

system category as the primary countermeasure. 
II. VEHICLE-TO-VEHICLE SAFETY SYSTEMS 

II.1. V2V System Description 

Wireless technologies are rapidly evolving, which provides the opportunity to utilize these 

technologies in support of advanced vehicle safety applications. New dedicated short range 

communications at 5.9 GHz offer the potential to support low latency wireless data 

communications between vehicles, and between vehicles and infrastructure. These low latency 

data communications within the immediate vicinity of a vehicle potentially enable a large 

number of vehicle safety applications. [5] V2V systems require two equipped vehicles in 

communication with each other to be operational. Thus, V2V systems predominantly apply to 

crashes that involve vehicle-to-vehicle pre-crash scenarios. The exception to that is the 

broadcast of control loss message in the single-vehicle control loss pre-crash scenarios. This 

analysis adopts the control loss warning function under investigation by the Crash Avoidance 

Metrics Partnership in the Vehicle Safety Communications – Applications. [6] 

The Vehicle Safety Communications Project - Final Report describes V2V safety applications 

that include cooperative forward collision warning, emergency electronic brake lights, lane 

change warning, blind spot warning, highway merge assistant, cooperative collision warning, 

road condition warning, and stop sign movement assistance, among others. Table A1 in 

Appendix A lists the different criteria used to map applicable crash data to V2V systems as the 

primary countermeasure and the remaining crashes to V2I and AV systems. 

II.2. V2V Systems as Primary Countermeasure in All-Vehicle Crashes 

V2V systems potentially address about 4,409,000 police-reported crashes annually, with the 95 

percent confidence interval between 3,752,000 and 5,066,000. If considered as the primary 

countermeasure, V2V systems deal with 74 percent of all crashes involving all vehicle types. 

Excluding drivers impaired by alcohol or drowsiness, these systems potentially address 79 

percent of all-vehicle crashes involving unimpaired drivers as shown in Figure 3. About 4 

percent of the crashes are classified as “Not Addressed” because they were not assigned to any 

crash countermeasure. The remaining 17 percent of the crashes can potentially be addressed by 

either V2I or AV systems or both. Figure 4 presents the annual target crash data and the 95 

percent confidence intervals for each system category given V2V as the primary countermeasure. 

Table B1 in Appendix B lists the annual number of target all-vehicle crashes for each pre-crash 

scenario addressed by V2V as the primary countermeasure, as well as the annual number of 

remaining all-vehicle crashes tackled by V2I or AV system categories. 

5 
Not Addressed

4%

AV/V2I

17%

V2V

79%

Figure 3. Distribution of Unimpaired All-Vehicle Crashes by System, 

V2V as Primary Countermeasure 

6 

6,000,000 

5,000,000 

Target 4,000,000 Crashes

3,000,000 4,409,000 

2,000,000 

935,000 1,000,000 

248,000 94,000 

-

V2V AV V2I Not Addressed

System Category

Figure 4. Annual Target All-Vehicle Crashes by System, V2V as Primary Countermeasure 

II.3. V2V Systems as Primary Countermeasure in Light-Vehicle Crashes 

V2V systems potentially address about 4,336,000 police-reported light-vehicle crashes annually, 

with the 95 percent confidence interval between 3,691,000 and 4,981,000. If considered as the 

primary countermeasure, V2V systems deal with 76 percent of all crashes involving at least one 

light vehicle. Excluding drivers impaired by alcohol or drowsiness, these systems potentially 

address 81 percent of all light-vehicle crashes involving unimpaired drivers as shown in Figure 5. 

About 3 percent of the crashes are classified as “Not Addressed” because they were not assigned 
to any crash countermeasure. The remaining 16 percent of the light-vehicle crashes can 

potentially be addressed by either V2I or autonomous systems or both. Figure 6 presents the 

annual target crash data and the 95 percent confidence intervals for each system category given 

V2V as the primary countermeasure. Table B2 in Appendix B lists the annual number of target 

light-vehicle crashes for each pre-crash scenario addressed by V2V as the primary 

countermeasure, as well as the annual number of remaining light-vehicle crashes tackled by V2I 

or AV system categories. 

7 

Not Addressed

3% AV/V2I

16%

V2V

81%

Figure 5. Distribution of Unimpaired Light-Vehicle Crashes by System, 

V2V as Primary Countermeasure 

6,000,000 

5,000,000 

4,000,000 

Target 

Crashes 3,000,000 

4,336,000 

2,000,000 

833,000 1,000,000 

185,000 81,000 

-

V2V AV V2I Not Addressed

System Category

Figure 6. Annual Target Light-Vehicle Crashes by System, V2V as Primary Countermeasure 
8 

II.4. V2V Systems as Primary Countermeasure in Heavy-Truck Crashes 

V2V systems potentially address about 267,000 police-reported heavy-truck crashes annually, 

with the 95 percent confidence interval between 228,000 and 306,000. If considered as the 

primary countermeasure, V2V systems deal with 70 percent of all crashes involving at least one 

heavy truck. Excluding drivers impaired by alcohol or drowsiness, these systems potentially 

address 71 percent of all heavy-truck crashes involving unimpaired drivers as shown in Figure 7. 

About 14 percent of the crashes are classified as “Not Addressed” because they were not 

assigned to any crash countermeasure. The remaining 15 percent of the heavy-truck crashes can 

potentially be addressed by either V2I or autonomous systems or both. Figure 8 presents the 

annual target crash data and the 95 percent confidence intervals for each system category given 

V2V as the primary countermeasure. Table B3 in Appendix B lists the annual number of target 

heavy-truck crashes for each pre-crash scenario addressed by V2V as the primary 

countermeasure, as well as the annual number of remaining heavy-truck crashes tackled by V2I 

or AV system categories. 

Not Addressed

14%

AV/V2I

15%

V2V

71%

Figure 7. Distribution of Unimpaired Heavy-Truck Crashes by System, 

V2V as Primary Countermeasure
350,000 

300,000 

Target 250,000 

Crashes

200,000 

267,000 

150,000 

100,000 

57,000 51,000 

50,000 

5,000 

-

V2V AV V2I Not Addressed

System Category

Figure 8. Annual Target Heavy-Truck Crashes by System, V2V as Primary Countermeasure

9 
III. VEHICLE-TO-INFRASTRUCTURE SAFETY SYSTEMS 

III.1. V2I System Description 

V2I systems incorporate communications between the vehicle and the infrastructure. Such 

systems apply to crashes where information from the infrastructure is needed such as presence of 

stop sign, signal status, speed limit, surface condition, and pedestrian crosswalks. In addition, 

V2I systems potentially address all crossing path crashes at intersections including systems 

developed under the Cooperative Intersection Collision Avoidance Systems initiative. [7] For 

instance, V2I systems deal with crossing path pre-crash scenarios at signalized junctions, 

violations of red light or stop sign, and pedestrian crashes in crosswalks. Moreover, V2I systems 

are assumed to assist drivers in crashes where speeding is cited as a contributing factor such as 

loss of control, road departure, rollover, and object contacted pre-crash scenarios. 

The Cooperative Intersection Collision Avoidance Systems Web site describes several V2I 

safety applications that encompass traffic signal violation warning, stop sign violation warning, 

left turn assistant, intersection collision warning, blind merge warning, pedestrian crossing 

information at designated intersections, and curve speed warning. Table A2 in Appendix A 

shows the different criteria used to map applicable crash data to V2I systems as the primary 

countermeasure and the remaining crashes to V2V and AV systems. 

III.2. V2I Systems as Primary Countermeasure in All-Vehicle Crashes 

V2I systems target about 1,465,000 police-reported crashes annually, with the 95 percent 

confidence interval between 1,263,000 and 1,667,000. If considered as the primary 

countermeasure, V2I systems potentially address about 25 percent of all crashes involving all 

vehicle types. Excluding drivers impaired by alcohol or drowsiness, these systems deal with 26 

percent of all crashes involving unimpaired drivers, as illustrated in Figure 9. About 4 percent of 

the crashes are classified as “Not Addressed.” The remaining 70 percent of the crashes can 

potentially be addressed by either V2V or autonomous systems or both. Figure 10 illustrates the 

annual target crash data and the 95 percent confidence intervals for each system category given 

V2I as the primary countermeasure. Table C1 in Appendix C lists the annual number of target 

all-vehicle crashes for each pre-crash scenario addressed by V2I as the primary countermeasure, 

as well as the annual number of remaining all-vehicle crashes tackled by V2V or AV system 

categories. 

10 
V2I

26%

AV/V2V

69%

Not Addressed

5%

Figure 9. Distribution of Unimpaired All-Vehicle Crashes by System, V2I as Primary 

Countermeasure

11 

4,000,000 

3,500,000 

3,000,000 Target 

Crashes 2,500,000 3,223,000 3,038,000 

2,000,000 1,465,000 

1,500,000 

1,000,000 

500,000 248,000 

-

V2I AV V2V Not Addressed

System Category

Figure 10. Annual Target All-Vehicle Crashes by System, V2I as Primary Countermeasure 

III.3. V2I Systems as Primary Countermeasure in Light-Vehicle Crashes 

V2I systems target about 1,431,000 police-reported light-vehicle crashes annually, with the 95 

percent confidence interval between 1,234,000 and 1,628,000. If considered as the primary 

countermeasure, V2I systems potentially address about 25 percent of all crashes involving at 
12 

least one light vehicle. Excluding drivers impaired by alcohol or drowsiness, these systems deal 

with 27 percent of all light-vehicle crashes involving unimpaired drivers, as illustrated in Figure 

11. About 3 percent of the crashes are classified as “Not Addressed.” The remaining 70 percent 

of the light-vehicle crashes can potentially be addressed by either V2V or autonomous systems, 

or both. Figure 12 illustrates the annual target crash data and the 95 percent confidence intervals 

for each system category given V2I as the primary countermeasure. Table C2 in Appendix C lists 

the annual number of target light-vehicle crashes for each pre-crash scenario addressed by V2I as 

the primary countermeasure, as well as the annual number of remaining light-vehicle crashes 

tackled by V2V or AV system categories. 

Not Addressed

3%

V2I

27%

AV/V2V

70%

Figure 11. Distribution of Unimpaired Light-Vehicle Crashes by System, V2I as Primary 

Countermeasure
4,000,000 

3,500,000 

3,000,000 Target 

Crashes 2,500,000 3,105,000 2,986,000 

2,000,000 

1,431,000 

1,500,000 

1,000,000 

500,000 185,000 

-

V2I AV V2V Not Addressed

System Category

Figure 12. Annual Target Light-Vehicle Crashes by System, V2I as Primary Countermeasure 

13 

III.4. V2I Systems as Primary Countermeasure in Heavy-Truck Crashes 

V2I systems target about 55,000 police-reported heavy-truck crashes annually, with the 95 

percent confidence interval between 45,000 and 65,000. If considered as the primary 

countermeasure, V2I systems potentially address about 14 percent of all crashes involving at 

least one heavy truck. Excluding drivers impaired by alcohol or drowsiness, these systems deal 

with 15 percent of all heavy-truck crashes involving unimpaired drivers as illustrated in Figure 

13. About 13 percent of the crashes are classified as “Not Addressed.” The remaining 72 

percent of the heavy-truck crashes can potentially be addressed by either V2V or autonomous 

systems or both. Figure 14 illustrates the annual target crash data and the 95 percent confidence 

intervals for each system category given V2I as the primary countermeasure. Table C3 in 

Appendix C lists the annual number of target heavy-truck crashes for each pre-crash scenario 

addressed by V2I as the primary countermeasure, as well as the annual number of remaining 

heavy-truck crashes tackled by V2V or AV system categories. 
Not Addressed V2I

13% 15%

AV/V2V

72%

Figure 13. Distribution of Unimpaired Heavy-Truck Crashes by System, V2I as Primary 

Countermeasure 

14 

300,000 

250,000 

Target 200,000 Crashes

150,000 229,000 217,000 

100,000 

55,000 51,000 

50,000 

-

V2I AV V2V Not Addressed

System Category

Figure 14. Annual Target Heavy-Truck Crashes by System, V2I as Primary Countermeasure
IV. COMBINED V2V AND V2I SYSTEMS 

The combination of V2V and V2I system categories has the potential to intervene in a greater 

number of crashes. Table A3 in Appendix A shows the different criteria used to map applicable 

crash data to combined V2V and V2I systems as the primary countermeasure and the remaining 

crashes to AV systems. 

IV.1. Combined V2V and V2I Systems as Primary Countermeasure in All-Vehicle Crashes 

Combined V2V and V2I systems potentially address about 4,503,000 police-reported crashes 

annually, with the 95 percent confidence interval between 3,831,000 and 5,175,000. If 

considered as the primary countermeasure, these combined systems potentially address about 75 

percent of all crashes involving all vehicle types. Excluding drivers impaired by alcohol or 

drowsiness, these systems deal with 81 percent of all-vehicle crashes involving unimpaired 

drivers as shown in Figure 15. Figure 16 presents the annual target crash data and the 95 percent 

confidence intervals for each system category given combined V2V and V2I as the primary 

countermeasure. Table D1 in Appendix D lists the annual number of target all-vehicle crashes 

for each pre-crash scenario addressed by combined V2V and V2I systems as the primary 

countermeasure, as well as the annual number of remaining all-vehicle crashes tackled by AV 

systems. 

15 

Not Addressed

4%

AV 

15%

V2V & V2I

81%

Figure 15. Distribution of Unimpaired All-Vehicle Crashes by System, Combined V2V and V2I 

Systems as Primary Countermeasure
6,000,000 

5,000,000 

Target 4,000,000 Crashes

3,000,000 4,503,000 

2,000,000 

844,000 1,000,000 

248,000 

-

V2V & V2I AV Not Addressed

System Category

Figure 16. Annual Target All-Vehicle Crashes by System, Combined V2V and V2I Systems as 

Primary Countermeasure

16 

IV.2. Combined V2V and V2I Systems as Primary Countermeasure in Light-Vehicle 

Crashes 

Combined V2V and V2I systems potentially address about 4,417,000 police-reported lightvehicle crashes annually, with the 95 percent confidence interval between 3,759,000 and 

5,075,000. If considered as the primary countermeasure, these combined systems potentially 

address about 77 percent of all crashes involving at least one light vehicle. Excluding drivers 

impaired by alcohol or drowsiness, these systems deal with 83 percent of all light-vehicle crashes 

involving unimpaired drivers as shown in Figure 17. Figure 18 presents the annual target crash 

data and the 95 percent confidence intervals for each system category given combined V2V and 

V2I systems as the primary countermeasure. Table D2 in Appendix D lists the annual number of 

target light-vehicle crashes for each pre-crash scenario addressed by combined V2V and V2I 

systems as the primary countermeasure, as well as the annual number of remaining light-vehicle 

crashes tackled by AV systems. 
Not Addressed

AV 3%

14%

V2V & V2I

83%

Figure 17. Distribution of Unimpaired Light-Vehicle Crashes by System, Combined V2V and 

V2I Systems as Primary Countermeasure 

17 

6,000,000 

5,000,000 

4,000,000 

Target 

Crashes 3,000,000 4,417,000 

2,000,000 

1,000,000 754,000 

185,000 

-

V2V & V2I AV Not Addressed

System Category

Figure 18. Annual Target Light-Vehicle Crashes by System, Combined V2V and V2I Systems 

as Primary Countermeasure

IV.3. Combined V2V and V2I Systems as Primary Countermeasure in Heavy-Truck 

Crashes 

Combined V2V and V2I systems potentially address about 272,000 police-reported heavy-truck 

crashes annually, with the 95 percent confidence interval between 233,000 and 311,000. If 
18 

considered as the primary countermeasure, these combined systems potentially address about 71 

percent of all crashes involving at least one heavy truck. Excluding drivers impaired by alcohol 

or drowsiness, these systems deal with 72 percent of all heavy-truck crashes involving 

unimpaired drivers as shown in Figure 19. Figure 20 presents the annual target crash data and 

the 95 percent confidence intervals for each system category given combined V2V and V2I 

systems as the primary countermeasure. Table D3 in Appendix D lists the annual number of 

target heavy-truck crashes for each pre-crash scenario addressed by combined V2V and V2I 

systems as the primary countermeasure, as well as the annual number of remaining heavy-truck 

crashes tackled by AV systems. 

Not Addressed

14%

AV 

14%

V2V & V2I

72%

Figure 19. Distribution of Unimpaired Heavy-Truck Crashes by System, Combined V2V and 

V2I Systems as Primary Countermeasure
350,000 

300,000 

Target 250,000 

Crashes

200,000 

272,000 

150,000 

100,000 

52,000 51,000 

50,000 

-

V2V & V2I AV Not Addressed

System Category

Figure 20. Annual Target Heavy-Truck Crashes by System, Combined V2V and V2I Systems as 

Primary Countermeasure

19 
V. CONCLUSIONS 

V.1. Analytical Results 

The results of the analyses show the potential span of effectiveness for the various IntelliDrive 

categories of crash avoidance systems in each of the three crash types. 

When analyzing the dataset of all police-reported crashes (5,977,000 annual average), the 

combined V2V and V2I systems potentially address approximately 4,503,000 or 75 percent. 

Figure 21 compares target crashes among the three system categories as well as the V2V and V2I 

combination. The error bars in Figure 21 refer to the 95 percent confidence intervals of the crash 

estimates. Figure 22 compares target crashes among the three system categories as proportions 

of all police-reported crashes involving all vehicle types. The proportion represents target 

crashes for each system category considered as a primary countermeasure. Table A4 in 

Appendix A shows the different criteria used to map applicable crash data to AV systems as the 

primary countermeasure and the remaining crashes to V2V and V2I systems. 

20 

6,000,000 

5,000,000 

4,000,000 

Target 

Crashes 3,000,000 

4,503,000 4,409,000 

2,000,000 

3,591,000 

1,000,000 1,465,000 

-

V2V & V2I V2V AV V2I

System Category

Figure 21. Comparison of Annual Target All-Vehicle Crashes 

Among System Categories
80%

70%

60%

50%

40%

30%

20%

10%

0%

Proportion of 

All Crashes 75% 74%

60%

25%

V2V & V2I V2V AV V2I

System Category

Figure 22. Comparison of Relative Target All-Vehicle Crashes 

Among System Categories

21 

When analyzing the dataset of all police-reported light-vehicle crashes (5,726,000 annual 

average), the combined V2V and V2I systems potentially address approximately 4,417,000 or 77 

percent. Figure 23 compares target crashes among the three system categories as well as the 

V2V and V2I combination. The error bars in Figure 23 refer to the 95 percent confidence 

intervals of the crash estimates. Figure 24 compares target crashes among the three system 

categories as proportions of all police-reported crashes involving light vehicle. The proportion 

represents target crashes for each system category considered as a primary countermeasure. 

6,000,000 

5,000,000 

4,000,000 

Target 4,417,000 Crashes 4,336,000 3,000,000 

3,445,000 

2,000,000 

1,000,000 1,431,000 

-

V2V & V2I V2V AV V2I

System Category
22 

Figure 23. Comparison of Annual Target Light-Vehicle Crashes Among System Categories

80%

70%

60%

50%

40%

30%

20%

10%

0%

Proportion of 77% 76%

All Crashes 60%

25%

V2V & V2I V2V AV V2I

System Category

Figure 24. Comparison of Relative Target Light-Vehicle Crashes Among System Categories

When analyzing the dataset of all police-reported heavy-truck crashes (384,000 on average), the 

combined V2V and V2I systems potentially address approximately 272,000 or 71 percent. 

Figure 25 compares target crashes among the three system categories as well as the V2V and V2I 

combination. The error bars in Figure 25 refer to the 95 percent confidence intervals of the crash 

estimates. Figure 26 compares target crashes among the three system categories as proportions 

of all police-reported crashes involving at least one heavy truck. The proportion represents 

target crashes for each system category considered as a primary countermeasure. 

350,000 

300,000 

250,000 

Target 272,000 200,000 267,000 245,000 Crashes

150,000 

100,000 

50,000 

55,000 -

V2V & V2I V2V AV V2I

System Category
23 

Figure 25. Comparison of Annual Target Heavy-Truck Crashes Among System Categories

80%

70%

60%

50%

40%

30%

20%

10%

0%

Proportion of 

All Crashes 71% 70% 64%

14%

V2V & V2I V2V AV V2I

System Category

Figure 26. Comparison of Relative Target Heavy-Truck Crashes Among System Categories

Figure 27 summarizes the results of the percent applicability of V2V, V2I, and combined V2V 

and V2I systems to target all-vehicle, light-vehicle, and heavy-truck crashes. These systems 

potentially address a larger portion of light-vehicle crashes than all-vehicle and heavy-truck 

crashes. V2V systems have the potential to intervene in a more considerable number of crashes 

than V2I systems. Moreover, adding V2I to V2V systems appears to have an insignificant 

impact on raising the number of target crashes addressed by V2V systems alone. 

Heavy Trucks

LightVehicles

All Vehicles

100%

80%

60%

40%

20%

0%

81% 71% 83% 72% 79% 81%

15% 27%

26%

V2V

V2I

V2V+V2I

Figure 27. Percent Applicability of System Categories to Target Crash Types
V.2. Follow-On Research 

Follow-on research from this study will involve further updates from relevant databases to 

determine the societal costs, describe crash circumstances, identify crash contributing and causal 

factors, and quantify the kinematics of pre-crash scenarios. In addition to the NASS GES crash 

databases, the National Motor Vehicle Crash Causation Survey database provides information 

about the circumstances, contributing factors, and causes of crashes involving light vehicles. 

Event Data Recorder data from cases in the NASS Crashworthiness Data System may also be 

incorporated to quantify the kinematics of light vehicles in terms of travel speed, brake 

application, and deceleration level applied over a span of five seconds before the crash. The 

Large Truck Crash Causation Study as well as the NASS GES crash databases contain the 

information needed to statistically describe the circumstances, contributing factors, and causes of 

pre-crash scenarios involving heavy trucks. 

Updating the statistical description of pre-crash scenarios will serve to rank pre-crash scenarios 

according to frequency and severity, crash type, and pre-crash characteristics. Ranking will be 

based not only on the frequency of occurrence, but also on the crash severity measured by 

comprehensive economic costs (values of statistical life) and functional years lost. Moreover, 

data on frequency and severity ranking, crash type, and pre-crash characteristics will be analyzed 

to identify logical groupings of pre-crash scenarios that might potentially be addressed by a 

selected set of IntelliDrive safety applications. 

This report focused on safety applications in support of the IntelliDrive safety initiative, which 

involve communications among vehicles (V2V) and between vehicles and the infrastructure 

(V2I). Thus, results were presented for potential V2V, V2I, and V2V/V2I safety applications. 

The results of autonomous vehicle (AV) safety systems were provided for comparison purposes. 

Separate analyses are recommended to examine the incremental target crash population that 

might be potentially addressed by the V2V/AV, V2I/AV, and V2V/V2I/AV combinations. 

24 
 

25 

VI. REFERENCES 

[1] USDOT IntelliDrive Program: Vehicle to Vehicle Safety Application Research Plan. (2010, 

January 10). PowerPoint presentation. Washington, DC: National Highway Traffic Safety 

Administration and Research and Innovative Technology Administration. Available at 

http://www.fmcsa.dot.gov/facts-research/media/webinar-10-01-20-slides.pdf. 

[2] ITS Strategic Research Plan, 2010-2014: Transforming Transportation Through 

Connectivity. (2009, December 8). PowerPoint presentation FHWA-JPO-10-028. 

Washington, DC: ITS Joint Program Office, Research and Innovative Technology 

Administration. Available at http://www.its.dot.gov/strat_plan/index.htm. 

[3] National Automotive Sampling System (NASS) General Estimates System (GES) - 

Analytical User's Manual 1988-2008. (2009). Washington, DC: National Center for Statistics 

and Analysis, National Highway Traffic Safety Administration. Available at http://wwwnrd.nhtsa.dot.gov/Pubs/AUM08.PDF. 

[4] Najm, W. G., Smith, J. D., & Yanagisawa, M. (2007, April). Pre-Crash Scenario Typology 

for Crash Avoidance Research. DOT HS 810 767. Washington, DC: National Highway 

Traffic Safety Administration. 

[5] CAMP. (2006, April). Vehicle Safety Communications Project - Final Report. DOT HS 810 

591. Washington, DC: National Highway Traffic Safety Administration. 

[6] Ahmed-Zaid, F., & Carter, A. (2009, January). Vehicle Safety Communications – 

Applications First Annual Report. DOT HS 811 073. Washington, DC: National Highway 

Traffic Safety Administration. Available at 

http://www.safercar.gov/staticfiles/DOT/NHTSA/NRD/Multimedia/PDFs/Crash%20Avoidan

ce/2009/811073.pdf. 

[7] Cooperative Intersection Collision Avoidance Systems. Washington, DC: ITS Joint Program 

Office, Research and Innovative Technology Administration. Available at

http://www.its.dot.gov/cicas/
26 

Appendix A. Mapping of Pre-Crash Scenarios to System Categories 

Table A1. Mapping of Pre-Crash Scenarios to System Categories - V2V System Primary

Pre-Crash Scenario V2V V2I AV

No driver present None None None

Vehicle failure None None All Crashes

Control loss/vehicle action All Crashes None Remaining None Remaining

Control loss/no vehicle action All Crashes None Remaining None Remaining

Running red light 2+ Vehicle Crashes All Remaining Crashes None Remaining

Running stop sign 2+ Vehicle Crashes All Remaining Crashes All Remaining Crashes

Road edge departure/maneuver None Speeding Crashes Conditional Speeding Crashes

Road edge departure/no maneuver None Speeding Crashes All Crashes

Road edge departure/backing None None All Crashes

Animal/maneuver None None All Crashes

Animal/no maneuver None None All Crashes

Pedestrian/maneuver None Crosswalk Crashes All Crashes

Pedestrian/no maneuver None Crosswalk Crashes All Crashes

Cyclist/maneuver None None All Crashes

Cyclist/no maneuver None None All Crashes

Backing into vehicle All Crashes None None

Turning/same direction All Crashes None None Remaining

Parking/same direction All Crashes None None Remaining

Changing lanes/same direction All Crashes None None Remaining

Drifting/same lane All Crashes None None Remaining

Opposite direction/maneuver All Crashes None None Remaining

Opposite direction/no maneuver All Crashes None None Remaining

Rear-end/striking maneuver All Crashes None None Remaining

Rear-end/lead vehicle accelerating All Crashes None None Remaining

Rear-end/lead vehicle constant speed All Crashes None None Remaining

Rear-end/lead vehicle decelerating All Crashes None None Remaining

Rear-end/lead vehicle stopped All Crashes None None Remaining

LTAP/OD @ signal All Crashes None Remaining None

Turn right @ signal All Crashes None Remaining None 

LTAP/OD @ non signal All Crashes None Remaining None

SCP @ non signal All Crashes None Remaining None 

Turn @ non signal All Crashes None Remaining None 

Evasive maneuver/maneuver Uncertain Uncertain Uncertain

Evasive maneuver/no maneuver Uncertain Uncertain Uncertain

Rollover None Speeding Crashes Conditional Speeding Crashes

Noncollision - No impact None None None

Object contacted/maneuver None Speeding Crashes Conditional Speeding Crashes

Object contacted/no maneuver None Speeding Crashes All Crashes

Hit and run Uncertain Uncertain Uncertain

Other - Rear-end All Crashes None None Remaining

Other - Sideswipe All Crashes None None Remaining

Other - Turn Across Path All Crashes None Remaining None 

Other - Turn Into Path All Crashes None Remaining None

Other Uncertain Uncertain Uncertain
27 

2+ Vehicle Crashes Countermeasure addresses crashes involving at least 2 vehicles in transport.

All Crashes Countermeasure addresses all crashes.

All Remaining Crashes Countermeasure addresses all remaining crashes not addressed by primary countermeasure.

Conditional Speeding Crashes Countermeasure addresses all speeding crashes except those occurring on slippery surface in clear weather.

Crosswalk Crashes Countermeasure addresses all pedestrian crashes occurring in crosswalks.

None Countermeasure does not address any crashes.

None Remaining Primary countermeasure addresses all crashes. 

Speeding Crashes Countermeasure addresses all crashes cited with speeding.

Uncertain Insufficient crash information to assess countermeasure applicability.

Intersection crashes Countermeasure addresses all crashes occurring at intersections only.

LTAP/OD Left Turn Across Path/Opposite Directions

SCP Straight Crossing Paths

It is generally assumed that V2V safety applications would potentially address all crashes that 

involve at least two vehicles equipped with basic V2V equipment. It is noteworthy that “not 

addressed” crashes include “uncertain” and “none” crashes in the table above. 
Table A2. Mapping of Pre-Crash Scenarios to System Categories - V2I System Primary

Pre-Crash Scenario V2I V2V AV

No driver present None None None

Vehicle failure None None All Crashes

Control loss/vehicle action Speeding Crashes All Remaining Crashes None Remaining

Control loss/no vehicle action Speeding Crashes All Remaining Crashes None Remaining

Running red light All Crashes None Remaining None Remaining

Running stop sign All Crashes None Remaining None Remaining

Road edge departure/maneuver Speeding Crashes None None Remaining

Road edge departure/no maneuver Speeding Crashes None All Remaining Crashes

Road edge departure/backing None None All Crashes

Animal/maneuver None None All Crashes

Animal/no maneuver None None All Crashes

Pedestrian/maneuver Crosswalk Crashes None All Remaining Crashes

Pedestrian/no maneuver Crosswalk Crashes None All Remaining Crashes

Cyclist/maneuver None None All Crashes

Cyclist/no maneuver None None All Crashes

Backing into vehicle None All Crashes None

Turning/same direction None All Crashes All Crashes

Parking/same direction None All Crashes All Crashes

Changing lanes/same direction None All Crashes All Crashes

Drifting/same lane None All Crashes All Crashes

Opposite direction/maneuver None All Crashes None

Opposite direction/no maneuver None All Crashes All Crashes

Rear-end/striking maneuver None All Crashes All Crashes

Rear-end/lead vehicle accelerating None All Crashes All Crashes

Rear-end/lead vehicle constant speed None All Crashes All Crashes

Rear-end/lead vehicle decelerating None All Crashes All Crashes

Rear-end/Lead vehicle stopped None All Crashes All Crashes

LTAP/OD @ signal All Crashes None Remaining None

Turn right @ signal All Crashes None Remaining None

LTAP/OD @ non signal Intersection Crashes All Remaining Crashes None

SCP @ non signal Intersection Crashes All Remaining Crashes None

Turn @ non signal Intersection Crashes All Remaining Crashes None

Evasive maneuver/maneuver Uncertain Uncertain Uncertain

Evasive maneuver/no maneuver Uncertain Uncertain Uncertain

Rollover Speeding Crashes None None Remaining

Noncollision - No impact None None None

Object contacted/maneuver Speeding Crashes None None Remaining

Object contacted/no maneuver Speeding Crashes None All Remaining Crashes

Hit and run Uncertain Uncertain Uncertain

Other - Rear-end None All Crashes All Crashes

Other - Sideswipe None All Crashes All Crashes

Other - Turn Across Path Intersection Crashes All Remaining Crashes None

Other - Turn Into Path Intersection Crashes All Remaining Crashes None

Other Uncertain Uncertain Uncertain

28 
29 

Control loss Excessive speed warning that alerts vehicles of overspeeding for the prevailing conditions.

Running red light Red light violation warning system

Running stop sign Stop sign violation warning system

Road edge departure Excessive speed warning that alerts vehicles of overspeeding for the prevailing conditions.

Pedestrian Pedestrian crossing information at designated intersections

LTAP/OD & Turn right @ signal Intersection collision warning

LTAP/OD, SCP, & Turn @ non signal Intersection collision warning only at intersections, excluding driveways & other locations.

Rollover Excessive speed warning that alerts vehicles of overspeeding for the prevailing conditions.

Object contacted Excessive speed warning that alerts vehicles of overspeeding for the prevailing conditions.
30 

Table A3. Mapping of Pre-Crash Scenarios to System Categories – V2V+V2I System Primary

Pre-Crash Scenario V2V & V2I AV

No driver present None None

Vehicle failure None All Crashes

Control loss/vehicle action All Crashes None Remaining

Control loss/no vehicle action All Crashes None Remaining

Running red light All Crashes None Remaining

Running stop sign All Crashes None Remaining

Road edge departure/maneuver Speeding Crashes None Remaining

Road edge departure/no maneuver Speeding Crashes All Remaining Crashes

Road edge departure/backing None All Crashes

Animal/maneuver None All Crashes

Animal/no maneuver None All Crashes

Pedestrian/maneuver Crosswalk Crashes All Remaining Crashes

Pedestrian/no maneuver Crosswalk Crashes All Remaining Crashes

Cyclist/maneuver None All Crashes

Cyclist/no maneuver None All Crashes

Backing into vehicle All Crashes None

Turning/same direction All Crashes None Remaining

Parking/same direction All Crashes None Remaining

Changing lanes/same direction All Crashes None Remaining

Drifting/same lane All Crashes None Remaining

Opposite direction/maneuver All Crashes None Remaining

Opposite direction/no maneuver All Crashes None Remaining

Rear-end/striking maneuver All Crashes None Remaining

Rear-end/lead vehicle accelerating All Crashes None Remaining

Rear-end/lead vehicle constant speed All Crashes None Remaining

Rear-end/lead vehicle decelerating All Crashes None Remaining

Rear-end/lead vehicle stopped All Crashes None Remaining

LTAP/OD @ signal All Crashes None

Turn right @ signal All Crashes None

LTAP/OD @ non signal All Crashes None

SCP @ non signal All Crashes None

Turn @ non signal All Crashes None

Evasive maneuver/maneuver Uncertain Uncertain

Evasive maneuver/no maneuver Uncertain Uncertain

Rollover Speeding Crashes None Remaining

Noncollision - No impact None None

Object contacted/maneuver Speeding Crashes None Remaining

Object contacted/no maneuver Speeding Crashes All Remaining Crashes

Hit and run Uncertain Uncertain

Other - Rear-end All Crashes None Remaining

Other - Sideswipe All Crashes None Remaining

Other - Turn Across Path All Crashes None

Other - Turn Into Path All Crashes None

Other Uncertain Uncertain
31 

Table A4. Mapping of Pre-Crash Scenarios to System Categories – AV System Primary

Pre-Crash Scenario AV V2V V2I

No driver present None None None

Vehicle failure All Crashes None None

Control loss/vehicle action Conditional Speeding Crashes All Remaining Crashes All Remaining Speeding Crashes

Control loss/no vehicle action Conditional Speeding Crashes All Remaining Crashes All Remaining Speeding Crashes

Running red light Single-Vehicle Crashes All Remaining Crashes All Remaining Crashes

Running stop sign All Crashes None Remaining None Remaining

Road edge departure/maneuver Conditional Speeding Crashes None All Remaining Speeding Crashes

Road edge departure/no maneuver All Crashes None None Remaining

Road edge departure/backing All Crashes None None

Animal/maneuver All Crashes None None

Animal/no maneuver All Crashes None None

Pedestrian/maneuver All Crashes None None Remaining

Pedestrian/no maneuver All Crashes None None Remaining

Cyclist/maneuver All Crashes None None

Cyclist/no maneuver All Crashes None None

Backing into vehicle None All Crashes None

Turning/same direction All Crashes None Remaining None

Parking/same direction All Crashes None Remaining None

Changing lanes/same direction All Crashes None Remaining None

Drifting/same lane All Crashes None Remaining None

Opposite direction/maneuver None All Crashes None

Opposite direction/no maneuver All Crashes None Remaining None

Rear-end/striking maneuver All Crashes None Remaining None

Rear-end/lead vehicle accelerating All Crashes None Remaining None

Rear-end/lead vehicle constant speed All Crashes None Remaining None

Rear-end/lead vehicle decelerating All Crashes None Remaining None

Rear-end/Lead vehicle stopped All Crashes None Remaining None

LTAP/OD @ signal None All Crashes All Crashes

Turn right @ signal None All Crashes All Crashes

LTAP/OD @ non signal None All Crashes Intersection Crashes

SCP @ non signal None All Crashes Intersection Crashes

Turn @ non signal None All Crashes Intersection Crashes

Evasive maneuver/maneuver Uncertain Uncertain Uncertain

Evasive maneuver/no maneuver Uncertain Uncertain Uncertain

Rollover Conditional Speeding Crashes None All Remaining Speeding Crashes

Noncollision - No impact None None None

Object contacted/maneuver Conditional Speeding Crashes None All Remaining Speeding Crashes

Object contacted/no maneuver All Crashes None None Remaining

Hit and run Uncertain Uncertain Uncertain

Other - Rear-end All Crashes None Remaining None

Other - Sideswipe All Crashes None Remaining None

Other - Turn Across Path None All Crashes Intersection Crashes

Other - Turn Into Path None All Crashes Intersection Crashes

Other Uncertain Uncertain Uncertain
32 

Vehicle failure Component status monitor that alerts the driver to a potential failure in tire, brake, engine, etc. 

Control loss Excessive speed warning that correlates map information to vehicle speed and controls.

Running red light Lane departure warning, lane keeping system, or obstacle detection warning

Running stop sign Stop sign violation warning that correlates map information to vehicle speed and controls.

Road edge departure Lane departure warning or lane keeping system in pre-event no maneuver.

Road edge departure/backing Back up warning system that detects objects and parked vehicles directly behind vehicle.

Animal/pedestrian/cyclist Forward crash warning that detects animals, pedestrians, or cyclists.

Backing into vehicle None since this involves vehicles in pre-event perpendicular directions where host is backing & turning.

Turning/parking/changing lanes/drifting Lane change warning or blind spot detection

Opposite direction Lane departure warning or lane keeping system in pre-event no maneuver.

Rear-end scenarios Rear-end crash warning or adaptive cruise control.

Rollover Excessive speed warning that correlates map information to vehicle speed and controls.

Object contacted/maneuver Excessive speed warning that correlates map information to vehicle speed and controls.

Object contacted/no maneuver Lane departure warning or lane keeping system in pre-event no maneuver.
33 

Appendix B. Distribution of Pre-Crash Scenario by System Category–V2V System Primary 

Table B1. Target All-Vehicle Crash Data for V2V Systems as Primary Countermeasure

Pre-Crash Scenario All Crashes V2V AV V2I

No driver present 1,000 - - -

Vehicle failure 50,000 - 50,000 -

Control loss/vehicle action 97,000 97,000 - -

Control loss/no vehicle action 442,000 442,000 - -

Running red light 226,000 226,000 - 1,000

Running stop sign 42,000 39,000 3,000 3,000

Road edge departure/maneuver 74,000 - 9,000 10,000

Road edge departure/no maneuver 277,000 - 277,000 54,000

Road edge departure/backing 82,000 - 82,000 -

Animal/maneuver 18,000 - 18,000 -

Animal/no maneuver 296,000 - 296,000 -

Pedestrian/maneuver 21,000 - 21,000 8,000

Pedestrian/no maneuver 42,000 - 42,000 5,000

Cyclist/maneuver 21,000 - 21,000 -

Cyclist/no maneuver 29,000 - 29,000 -

Backing into vehicle 129,000 129,000 - -

Turning/same direction 197,000 197,000 - -

Parking/same direction 38,000 38,000 - -

Changing lanes/same direction 334,000 334,000 - -

Drifting/same lane 105,000 105,000 - -

Opposite direction/maneuver 9,000 9,000 - -

Opposite direction/no maneuver 108,000 108,000 - -

Rear-end/striking maneuver 81,000 81,000 - -

Rear-end/LVA 22,000 22,000 - -

Rear-end/LVM 192,000 192,000 - -

Rear-end/LVD 388,000 388,000 - -

Rear-end/LVS 910,000 910,000 - -

LTAP/OD @ signal 195,000 195,000 - -

Turn right @ signal 30,000 30,000 - -

LTAP/OD @ non signal 179,000 179,000 - -

SCP @ non signal 637,000 637,000 - -

Turn @ non signal 45,000 45,000 - -

Evasive maneuver/maneuver 12,000 - - -

Evasive maneuver/no maneuver 45,000 - - -

Rollover 6,000 - 1,000 1,000

Noncollision - No impact 36,000 - - -

Object contacted/maneuver 66,000 - 4,000 5,000

Object contacted/no maneuver 82,000 - 82,000 7,000

Hit and run 3,000 - - -

Other - Rear-end 1,000 1,000 - -

Other - Sideswipe 2,000 2,000 - -

Other - Turn Across Path 1,000 1,000 - -

Other - Turn Into Path 1,000 1,000 - -

Other 22,000 - - -

 5,595,000 4,409,000 935,000 94,000
34 

Table B2. Target Light-Vehicle Crash Data for V2V Systems as Primary Countermeasure

Pre-Crash Scenario All Crashes V2V AV V2I

No driver present 1,000 - - -

Vehicle failure 45,000 - 45,000 -

Control loss/vehicle action 89,000 89,000 - -

Control loss/no vehicle action 414,000 414,000 - -

Running red light 226,000 225,000 - 1,000

Running stop sign 42,000 39,000 2,000 2,000

Road edge departure/maneuver 54,000 - 8,000 9,000

Road edge departure/no maneuver 240,000 - 240,000 48,000

Road edge departure/backing 68,000 - 68,000 -

Animal/maneuver 15,000 - 15,000 -

Animal/no maneuver 285,000 - 285,000 -

Pedestrian/maneuver 19,000 - 19,000 8,000

Pedestrian/no maneuver 39,000 - 39,000 5,000

Cyclist/maneuver 20,000 - 20,000 -

Cyclist/no maneuver 27,000 - 27,000 -

Backing into vehicle 127,000 127,000 - -

Turning/same direction 195,000 195,000 - -

Parking/same direction 38,000 38,000 - -

Changing lanes/same direction 329,000 329,000 - -

Drifting/same lane 102,000 102,000 - -

Opposite direction/maneuver 9,000 9,000 - -

Opposite direction/no maneuver 102,000 102,000 - -

Rear-end/striking maneuver 80,000 80,000 - -

Rear-end/LVA 22,000 22,000 - -

Rear-end/LVM 190,000 190,000 - -

Rear-end/LVD 384,000 384,000 - -

Rear-end/LVS 906,000 906,000 - -

LTAP/OD @ signal 195,000 195,000 - -

Turn right @ signal 29,000 29,000 - -

LTAP/OD @ non signal 178,000 178,000 - -

SCP @ non signal 634,000 634,000 - -

Turn @ non signal 43,000 43,000 - -

Evasive maneuver/maneuver 12,000 - - -

Evasive maneuver/no maneuver 43,000 - - -

Rollover 3,000 - 1,000 1,000

Noncollision - No impact 30,000 - - -

Object contacted/maneuver 32,000 - 2,000 3,000

Object contacted/no maneuver 61,000 - 61,000 5,000

Hit and run 3,000 - - -

Other - Rear-end 1,000 1,000 - -

Other - Sideswipe 2,000 2,000 - -

Other - Turn Across Path 1,000 1,000 - -

Other - Turn Into Path 1,000 1,000 - -

Other 21,000 - - -

 5,356,000 4,336,000 833,000 81,000
Table B3. Target Heavy-Truck Crash Data for V2V Systems as Primary Countermeasure

Pre-Crash Scenario All Crashes V2V AV V2I

No driver present - - - -

Vehicle failure 5,000 - 5,000 -

Control loss/vehicle action 5,000 5,000 - -

Control loss/no vehicle action 16,000 16,000 - -

Running red light 9,000 9,000 - -

Running stop sign 2,000 1,000 - -

Road edge departure/maneuver 14,000 - 1,000 1,000

Road edge departure/no maneuver 17,000 - 17,000 2,000

Road edge departure/backing 8,000 - 8,000 -

Animal/maneuver 2,000 - 2,000 -

Animal/no maneuver 5,000 - 5,000 -

Pedestrian/maneuver 1,000 - 1,000 -

Pedestrian/no maneuver 1,000 - 1,000 -

Cyclist/maneuver - - - -

Cyclist/no maneuver - - - -

Backing into vehicle 19,000 19,000 - -

Turning/same direction 28,000 28,000 - -

Parking/same direction 3,000 3,000 - -

Changing lanes/same direction 49,000 49,000 - -

Drifting/same lane 20,000 20,000 - -

Opposite direction/maneuver 1,000 1,000 - -

Opposite direction/no maneuver 13,000 13,000 - -

Rear-end/striking maneuver 4,000 4,000 - -

Rear-end/LVA 1,000 1,000 - -

Rear-end/LVM 13,000 13,000 - -

Rear-end/LVD 17,000 17,000 - -

Rear-end/LVS 29,000 29,000 - -

LTAP/OD @ signal 5,000 5,000 - -

Turn right @ signal 3,000 3,000 - -

LTAP/OD @ non signal 5,000 5,000 - -

SCP @ non signal 22,000 22,000 - -

Turn @ non signal 5,000 5,000 - -

Evasive maneuver/maneuver 1,000 - - -

Evasive maneuver/no maneuver 3,000 - - -

Rollover 1,000 - - -

Noncollision - No impact 11,000 - - -

Object contacted/maneuver 19,000 - - 1,000

Object contacted/no maneuver 17,000 - 17,000 1,000

Hit and run 1,000 - - -

Other - Rear-end - - - -

Other - Sideswipe - - - -

Other - Turn Across Path - - - -

Other - Turn Into Path - - - -

Other 3,000 - - -

 375,000 267,000 57,000 5,000

35 
36 

Appendix C. Distribution of Pre-Crash Scenario by System Category–V2I System Primary 

Table C1. Target All-Vehicle Crash Data for V2I Systems as Primary Countermeasure

Pre-Crash Scenario All Crashes V2I AV V2V

No driver present 1,000 - - -

Vehicle failure 50,000 - 50,000 -

Control loss/vehicle action 97,000 59,000 - 38,000

Control loss/no vehicle action 442,000 252,000 - 190,000 

Running red light 226,000 226,000 - -

Running stop sign 42,000 42,000 - -

Road edge departure/maneuver 74,000 10,000 - -

Road edge departure/no maneuver 277,000 54,000 223,000 -

Road edge departure/backing 82,000 - 82,000 -

Animal/maneuver 18,000 - 18,000 -

Animal/no maneuver 296,000 - 296,000 -

Pedestrian/maneuver 21,000 8,000 13,000 -

Pedestrian/no maneuver 42,000 5,000 37,000 -

Cyclist/maneuver 21,000 - 21,000 -

Cyclist/no maneuver 29,000 - 29,000 -

Backing into vehicle 129,000 - - 129,000 

Turning/same direction 197,000 - 197,000 197,000 

Parking/same direction 38,000 - 38,000 38,000

Changing lanes/same direction 334,000 - 334,000 334,000 

Drifting/same lane 105,000 - 105,000 105,000 

Opposite direction/maneuver 9,000 - - 9,000

Opposite direction/no maneuver 108,000 - 108,000 108,000 

Rear-end/striking maneuver 81,000 - 81,000 81,000

Rear-end/LVA 22,000 - 22,000 22,000

Rear-end/LVM 192,000 - 192,000 192,000 

Rear-end/LVD 388,000 - 388,000 388,000 

Rear-end/LVS 910,000 - 910,000 910,000 

LTAP/OD @ signal 195,000 195,000 - -

Turn right @ signal 30,000 30,000 - -

LTAP/OD @ non signal 179,000 108,000 - 71,000

SCP @ non signal 637,000 433,000 - 204,000 

Turn @ non signal 45,000 27,000 - 18,000

Evasive maneuver/maneuver 12,000 - - -

Evasive maneuver/no maneuver 45,000 - - -

Rollover 6,000 1,000 - -

Noncollision - No impact 36,000 - - -

Object contacted/maneuver 66,000 5,000 - -

Object contacted/no maneuver 82,000 7,000 76,000 -

Hit and run 3,000 - - -

Other - Rear-end 1,000 - 1,000 1,000

Other - Sideswipe 2,000 - 2,000 2,000

Other - Turn Across Path 1,000 1,000 - -

Other - Turn Into Path 1,000 1,000 - -

Other 22,000 - - -

 5,595,000 1,465,000 3,223,000 3,038,000
Table C2. Target Light-Vehicle Crash Data for V2I Systems as Primary Countermeasure

Pre-Crash Scenario All Crashes V2I AV V2V

No driver present 1,000 - - -

Vehicle failure 45,000 - 45,000 -

Control loss/vehicle action 89,000 55,000 - 34,000

Control loss/no vehicle action 414,000 238,000 - 176,000

Running red light 226,000 226,000 - -

Running stop sign 42,000 42,000 - -

Road edge departure/maneuver 54,000 9,000 - -

Road edge departure/no maneuver 240,000 48,000 192,000 -

Road edge departure/backing 68,000 - 68,000 -

Animal/maneuver 15,000 - 15,000 -

Animal/no maneuver 285,000 - 285,000 -

Pedestrian/maneuver 19,000 8,000 11,000 -

Pedestrian/no maneuver 39,000 5,000 35,000 -

Cyclist/maneuver 20,000 - 20,000 -

Cyclist/no maneuver 27,000 - 27,000 -

Backing into vehicle 127,000 - - 127,000

Turning/same direction 195,000 - 195,000 195,000

Parking/same direction 38,000 - 38,000 38,000

Changing lanes/same direction 329,000 - 329,000 329,000

Drifting/same lane 102,000 - 102,000 102,000

Opposite direction/maneuver 9,000 - - 9,000 

Opposite direction/no maneuver 102,000 - 102,000 102,000

Rear-end/striking maneuver 80,000 - 80,000 80,000

Rear-end/LVA 22,000 - 22,000 22,000

Rear-end/LVM 190,000 - 190,000 190,000

Rear-end/LVD 384,000 - 384,000 384,000

Rear-end/LVS 906,000 - 906,000 906,000

LTAP/OD @ signal 195,000 195,000 - -

Turn right @ signal 29,000 29,000 - -

LTAP/OD @ non signal 178,000 108,000 - 70,000

SCP @ non signal 634,000 432,000 - 202,000

Turn @ non signal 43,000 26,000 - 16,000

Evasive maneuver/maneuver 12,000 - - -

Evasive maneuver/no maneuver 43,000 - - -

Rollover 3,000 1,000 - -

Noncollision - No impact 30,000 - - -

Object contacted/maneuver 32,000 3,000 - -

Object contacted/no maneuver 61,000 5,000 56,000 -

Hit and run 3,000 - - -

Other - Rear-end 1,000 - 1,000 1,000 

Other - Sideswipe 2,000 - 2,000 2,000 

Other - Turn Across Path 1,000 1,000 - -

Other - Turn Into Path 1,000 1,000 - -

Other 21,000 - - -

 5,356,000 1,431,000 3,105,000 2,986,000

37 
Table C3. Target Heavy-Truck Crash Data for V2I Systems as Primary Countermeasur

Pre-Crash Scenario All Crashes V2I AV V2V

No driver present - - - -

Vehicle failure 5,000 - 5,000 -

Control loss/vehicle action 5,000 3,000 - 2,000

Control loss/no vehicle action 16,000 9,000 - 7,000

Running red light 9,000 9,000 - -

Running stop sign 2,000 2,000 - -

Road edge departure/maneuver 14,000 1,000 - -

Road edge departure/no maneuver 17,000 2,000 15,000 -

Road edge departure/backing 8,000 - 8,000 -

Animal/maneuver 2,000 - 2,000 -

Animal/no maneuver 5,000 - 5,000 -

Pedestrian/maneuver 1,000 - - -

Pedestrian/no maneuver 1,000 - - -

Cyclist/maneuver - - - -

Cyclist/no maneuver - - - -

Backing into vehicle 19,000 - - 19,000

Turning/same direction 28,000 - 28,000 28,000

Parking/same direction 3,000 - 3,000 3,000

Changing lanes/same direction 49,000 - 49,000 49,000

Drifting/same lane 20,000 - 20,000 20,000

Opposite direction/maneuver 1,000 - - 1,000

Opposite direction/no maneuver 13,000 - 13,000 13,000

Rear-end/striking maneuver 4,000 - 4,000 4,000

Rear-end/LVA 1,000 - 1,000 1,000

Rear-end/LVM 13,000 - 13,000 13,000

Rear-end/LVD 17,000 - 17,000 17,000

Rear-end/LVS 29,000 - 29,000 29,000

LTAP/OD @ signal 5,000 5,000 - -

Turn right @ signal 3,000 3,000 - -

LTAP/OD @ non signal 5,000 3,000 - 2,000

SCP @ non signal 22,000 15,000 - 7,000

Turn @ non signal 5,000 3,000 - 2,000

Evasive maneuver/maneuver 1,000 - - -

Evasive maneuver/no maneuver 3,000 - - -

Rollover 1,000 - - -

Noncollision - No impact 11,000 - - -

Object contacted/maneuver 19,000 1,000 - -

Object contacted/no maneuver 17,000 1,000 16,000 -

Hit and run 1,000 - - -

Other - Rear-end - - - -

Other - Sideswipe - - - -

Other - Turn Across Path - - - -

Other - Turn Into Path - - - -

Other 3,000 - - -

 375,000 55,000 229,000 217,000

38 

e
Appendix D. Distribution of Pre-Crash Scenario by System Category–Combined V2V and 

V2I System Primary 

Table D1. Target All-Vehicle Crash Data for Combined V2V and V2I Systems as Primary 

Countermeasure

Pre-Crash Scenario All Crashes V2V & V2I AV

No driver present 1,000 - -

Vehicle failure 50,000 - 50,000

Control loss/vehicle action 97,000 97,000 -

Control loss/no vehicle action 442,000 442,000 -

Running red light 226,000 226,000 -

Running stop sign 42,000 42,000 -

Road edge departure/maneuver 74,000 10,000 -

Road edge departure/no maneuver 277,000 54,000 223,000

Road edge departure/backing 82,000 - 82,000

Animal/maneuver 18,000 - 18,000

Animal/no maneuver 296,000 - 296,000

Pedestrian/maneuver 21,000 8,000 13,000

Pedestrian/no maneuver 42,000 5,000 37,000

Cyclist/maneuver 21,000 - 21,000

Cyclist/no maneuver 29,000 - 29,000

Backing into vehicle 129,000 129,000 -

Turning/same direction 197,000 197,000 -

Parking/same direction 38,000 38,000 -

Changing lanes/same direction 334,000 334,000 -

Drifting/same lane 105,000 105,000 -

Opposite direction/maneuver 9,000 9,000 -

Opposite direction/no maneuver 108,000 108,000 -

Rear-end/striking maneuver 81,000 81,000 -

Rear-end/LVA 22,000 22,000 -

Rear-end/LVM 192,000 192,000 -

Rear-end/LVD 388,000 388,000 -

Rear-end/LVS 910,000 910,000 -

LTAP/OD @ signal 195,000 195,000 -

Turn right @ signal 30,000 30,000 -

LTAP/OD @ non signal 179,000 179,000 -

SCP @ non signal 637,000 637,000 -

Turn @ non signal 45,000 45,000 -

Evasive maneuver/maneuver 12,000 - -

Evasive maneuver/no maneuver 45,000 - -

Rollover 6,000 1,000 -

Noncollision - No impact 36,000 - -

Object contacted/maneuver 66,000 5,000 -

Object contacted/no maneuver 82,000 7,000 76,000

Hit and run 3,000 - -

Other - Rear-end 1,000 1,000 -

Other - Sideswipe 2,000 2,000 -

Other - Turn Across Path 1,000 1,000 -

Other - Turn Into Path 1,000 1,000 -

Other 22,000 - -

 5,595,000 4,503,000 844,000

39 
Table D2. Target Light-Vehicle Crash Data for Combined V2V and V2I Systems as Primary 

Countermeasure

Pre-Crash Scenario All Crashes V2V & V2I AV

No driver present 1,000 - -

Vehicle failure 45,000 - 45,000 

Control loss/vehicle action 89,000 89,000 -

Control loss/no vehicle action 414,000 414,000 -

Running red light 226,000 226,000 -

Running stop sign 42,000 42,000 -

Road edge departure/maneuver 54,000 9,000 -

Road edge departure/no maneuver 240,000 48,000 192,000

Road edge departure/backing 68,000 - 68,000 

Animal/maneuver 15,000 - 15,000 

Animal/no maneuver 285,000 - 285,000

Pedestrian/maneuver 19,000 8,000 11,000 

Pedestrian/no maneuver 39,000 5,000 35,000 

Cyclist/maneuver 20,000 - 20,000 

Cyclist/no maneuver 27,000 - 27,000 

Backing into vehicle 127,000 127,000 -

Turning/same direction 195,000 195,000 -

Parking/same direction 38,000 38,000 -

Changing lanes/same direction 329,000 329,000 -

Drifting/same lane 102,000 102,000 -

Opposite direction/maneuver 9,000 9,000 -

Opposite direction/no maneuver 102,000 102,000 -

Rear-end/striking maneuver 80,000 80,000 -

Rear-end/LVA 22,000 22,000 -

Rear-end/LVM 190,000 190,000 -

Rear-end/LVD 384,000 384,000 -

Rear-end/LVS 906,000 906,000 -

LTAP/OD @ signal 195,000 195,000 -

Turn right @ signal 29,000 29,000 -

LTAP/OD @ non signal 178,000 178,000 -

SCP @ non signal 634,000 634,000 -

Turn @ non signal 43,000 43,000 -

Evasive maneuver/maneuver 12,000 - -

Evasive maneuver/no maneuver 43,000 - -

Rollover 3,000 1,000 -

Noncollision - No impact 30,000 - -

Object contacted/maneuver 32,000 3,000 -

Object contacted/no maneuver 61,000 5,000 56,000 

Hit and run 3,000 - -

Other - Rear-end 1,000 1,000 -

Other - Sideswipe 2,000 2,000 -

Other - Turn Across Path 1,000 1,000 -

Other - Turn Into Path 1,000 1,000 -

Other 21,000 - -

 5,356,000 4,417,000 754,000

40 
41 

Table D3. Target Heavy-Truck Crash Data for Combined V2V and V2I Systems as Primary 

Countermeasure

Pre-Crash Scenario All Crashes V2V & V2I AV

No driver present - - -

Vehicle failure 5,000 - 5,000

Control loss/vehicle action 5,000 5,000 -

Control loss/no vehicle action 16,000 16,000 -

Running red light 9,000 9,000 -

Running stop sign 2,000 2,000 -

Road edge departure/maneuver 14,000 1,000 -

Road edge departure/no maneuver 17,000 2,000 15,000

Road edge departure/backing 8,000 - 8,000

Animal/maneuver 2,000 - 2,000

Animal/no maneuver 5,000 - 5,000

Pedestrian/maneuver 1,000 - -

Pedestrian/no maneuver 1,000 - -

Cyclist/maneuver - - -

Cyclist/no maneuver - - -

Backing into vehicle 19,000 19,000 -

Turning/same direction 28,000 28,000 -

Parking/same direction 3,000 3,000 -

Changing lanes/same direction 49,000 49,000 -

Drifting/same lane 20,000 20,000 -

Opposite direction/maneuver 1,000 1,000 -

Opposite direction/no maneuver 13,000 13,000 -

Rear-end/striking maneuver 4,000 4,000 -

Rear-end/LVA 1,000 1,000 -

Rear-end/LVM 13,000 13,000 -

Rear-end/LVD 17,000 17,000 -

Rear-end/LVS 29,000 29,000 -

LTAP/OD @ signal 5,000 5,000 -

Turn right @ signal 3,000 3,000 -

LTAP/OD @ non signal 5,000 5,000 -

SCP @ non signal 22,000 22,000 -

Turn @ non signal 5,000 5,000 -

Evasive maneuver/maneuver 1,000 - -

Evasive maneuver/no maneuver 3,000 - -

Rollover 1,000 - -

Noncollision - No impact 11,000 - -

Object contacted/maneuver 19,000 1,000 -

Object contacted/no maneuver 17,000 1,000 16,000

Hit and run 1,000 - -

Other - Rear-end - - -

Other - Sideswipe - - -

Other - Turn Across Path - - -

Other - Turn Into Path - - -

Other 3,000 - -

 375,000 272,000 52,000
DOT HS 811 381

October 2010