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This study aims to provide evidence to support the development of automated vehicle (AV) safety assessments that consider the possible presence of non-motorized vulnerable road-users (VRUs) on limited-access highways. Although limited-access highways are designed to accommodate high-speed motor vehicles, collisions involving VRUs on such roadways are frequently reported. A narrative review is conducted, covering the epidemiology of VRUs crashes on limited-access highways to identify typical crash patterns considering collisions severity and the underlying reasons for the VRUs to use the highway. The review results show that occupants alighting from a disabled or crashed vehicle, people seeking help or helping others, highway maintenance zones, police stops, and people crossing a highway should be given priority to ensure VRU safety on limited-access highways. The results are summarized in figures with schematic models to generate test scenarios for AV safety assessment. Additionally, the results are discussed using two examples of traffic situations relevant to the potential AV-VRU crashes on highways and the current performance of autonomous emergency braking and autonomous emergency steering systems. These findings have important implications for producing scenarios in which AV may not produce crashes lest it performs worse than human drivers in the proposed scenarios.

A Review of Vehicle-to-Vulnerable Road User Collisions on Limited-Access Highways to Support the Development of Automated Vehicle Safety Assessments