conventional people-driven vehicles at least maintain
their current level of safety.
In our opinion, a base of the most representative
"reference" scenarios of the interaction of
autonomous vehicles with traditional ones, especially
with the most vulnerable, should be created for this.
It is necessary to determine a list of driving situations
that should be evaluated in terms of possible conflict
avoidance, and then traffic control options for these
situations will be modeled and defined. Since there is
no information on the interaction of autonomous
vehicles with other participants in the movement, but
taken into account that their movement will be carried
out according to the given algorithms, at the first
stage it is necessary to analyze the existing statistics
of road traffic accidents, select their concentration,
and then use the simulation models to determine the
most dangerous scenarios.
2 OVERVIEW OF EXISTING
METHODS
Recently, the number of researches devoted to the
study of the significance of factors affecting the
severity of accidents has increased significantly (Zou,
X., Yue, W. L., Vu, H.L., 2018). An active field of
research by scientists from different countries is the
study of the complex relationship between
influencing factors and the severity of accidents using
statistical methods and machine learning algorithms:
classification and regression trees (Moral-García, S,
Castellano, J. G., Mantas, C. J., Montella, A.,
Abellán, J., 2019), neural networks (Theofilatos, A.,
Chen, C., Constantinos, A., 2019; Zheng, M., Li, T.,
Zhu, R., Chen, J., Ma, Z., Tang M., et al., 2019),
support vector methods (Chen, C., Zhang, G., Qian,
Z., Tarefder, R.A., Tian, Z., 2016), naive Bayes
classifier (Chen, C., Zhang, G., Yang, J., Milton,
J.C., Alcántara, A.D., 2016; Li, Z., Wu, Q., Ci, Y.,
Chen, C., Chen, X., Zhang, G., 2019), binary (Zhai,
X., Huang, H., Sze, N.N., Song, Z., Hon, K.K., 2019;
Salon, D., McIntyre, A., 2018; Jalayer, M.,
Shabanpour, R., Pour-Rouholamin, M., Golshani, N.,
Zhou, H., 2018; Rezapour, M., Moomen, M. and
Ksaibati, K., 2019; Sam, E.F., Daniels, S., Brijs, K.,
Brijs, T., G. Wets, 2018; Sam, E.F., Daniels, S., Brijs,
K., Brijs, T., G. Wets, 2018; Ahmed, M.M., Franke,
R., Ksaibati, K., Shinstine, D.S., 2018) and
polynomial (Penmetsa, P., Pulugurtha, S.S., 2018)
logistic regression, association rules (AR) (Montella,
A., 2011; Wu, P., Meng, X., Song, L., Zuo, W., 2019;
Weng, J., Zhu, J.-Z., Yan, X., Liu, Z., 2016; Nitsche,
P., Thomas, P., Stuetz, R., Welsh, R., 2017; Xu, C.,
Bao, J., Wang, C., Li, P., 2018). The accelerating
growth in computing power of computers and the
emergence of more sophisticated methods have
contributed to the rapid development of road safety
prediction models. Multivariate modeling and mining
methods are gradually replacing traditional one-
dimensional modeling methods based on the linear
model and the Poisson model.
When many researchers identify the relationship
of a large number of factors influencing to the
severity of the accident consequences, the method of
AR is widely used. So, as a result of research, the
authors of (Montella, A., 2011) identified the factors
leading to accidents at intersections and established
the interdependencies between these factors. In
general, they identified numerous factors related to
road and environmental problems, but not related to
pedestrian or vehicle. The most important factors
characterizing the geometry of the road were the
radius and angle of deviation. The significant role of
road markings and signs was also identified.
The authors of (Wu, P., Meng, X., Song, L., Zuo,
W., 2019) selected the city crossroads for analysis as
places that pose a serious security risk, since most
accidents within the city territory occur in places or
near junctions. They analyzed safety indicators for six
types of intersections and factors affecting the
severity of accidents. Fault tree analysis was used to
assess the risk of intersections, and AR were used to
analyze the nature of the severity of accidents. As a
result, four types of urban junctions with a high level
of accident risk and more than 4,000 rules describing
accidents with severe consequences were identified.
In (Weng, J., Zhu, J.-Z., Yan, X., Liu, Z., 2016), a
method based on AR is designed to analyze the
characteristics and factors contributing to emergency
situations during road repair work. Most AR include
conditions such as a speed of more than 40 km / h and
the use of traffic control devices.
The authors in the article (Nitsche, P., Thomas, P.,
Stuetz, R., Welsh, R., 2017) presents a data analysis
technique, including the preparation, analysis and
visualization of accident data, which allows
identifying critical pre-emergency scenarios at T -
and X- junctions as a basis for testing the safety of
autonomous vehicles. In this methodology, the k-
medoid method is used to form homogeneous groups
(clusters) among the array of accident records.
Subsequently to this clusters AR are applied to
generate typical motion scenarios and accident
patterns.
In (Xu, C., Bao, J., Wang, C., Li, P., 2018), the
method of AR was also used to study the factors