Road traffic safety assessment in self-driving vehicles based on time-to-collision with motion orientation.

Traffic conflict analysis based on Surrogate Safety Measures (SSMs) helps to estimate the risk level of an ego-vehicle interacting with other road users. Nonetheless, risk assessment for autonomous vehicles (AVs) is still incipient, given that most of the AVs are currently prototypes and current SSMs do not directly apply to autonomous driving styles. Therefore, to assess and quantify the potential risk arising from AV interactions with other road users, this study introduces the TTC (Time-to-Collision with motion orientation), a metric that considers the yaw angle of conflicting objects.