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