Behavioral Safety Assessment towards Large-scale Deployment of Autonomous Vehicles

Autonomous vehicles (AVs) have significantly advanced in real-world deployment in recent years, yet safety continues to be a critical barrier to widespread adoption. Traditional functional safety approaches, which primarily verify the reliability, robustness, and adequacy of AV hardware and software systems from a vehicle-centric perspective, do not sufficiently address the AV's broader interactions and behavioral impact on the surrounding traffic environment. To overcome this limitation, we propose a paradigm shift toward behavioral safety, a comprehensive approach focused on evaluating AV responses and interactions within traffic environment. To systematically assess behavioral safety, we introduce a third-party AV safety assessment framework comprising two complementary evaluation components: Driver Licensing Test and Driving Intelligence Test. The Driver Licensing Test evaluates AV's reactive behaviors under controlled scenarios, ensuring basic behavioral competency. In contrast, the Driving Intelligence Test assesses AV's interactive behaviors within naturalistic traffic conditions, quantifying the frequency of safety-critical events to deliver statistically meaningful safety metrics before large-scale deployment. We validated our proposed framework using \texttt{this http URL}, an open-source Level 4 AV, tested both in simulated environments and on the physical test track at the University of Michigan's Mcity Testing Facility. The results indicate that \texttt{this http URL} passed 6 out of 14 scenarios and exhibited a crash rate of 3.01e-3 crashes per mile, approximately 1,000 times higher than average human driver crash rate. During the tests, we also uncovered several unknown unsafe scenarios for \texttt{this http URL}. These findings underscore the necessity of behavioral safety evaluations for improving AV safety performance prior to widespread public deployment.

@article{liu2025_2505.16214,
  title={ Behavioral Safety Assessment towards Large-scale Deployment of Autonomous Vehicles },
  author={ Henry X. Liu and Xintao Yan and Haowei Sun and Tinghan Wang and Zhijie Qiao and Haojie Zhu and Shengyin Shen and Shuo Feng and Greg Stevens and Greg McGuire },
  journal={arXiv preprint arXiv:2505.16214},
  year={ 2025 }
}