Structured Risk Identification for Sustainable Safety in Mixed Autonomous Traffic: A Layered Data-Driven Approach

With the accelerated commercialization of autonomous vehicles, new accident types and complex risk factors have emerged beyond the scope of existing traffic safety management systems. This study aims to contribute to sustainable safety by establishing a quantitative basis for early recognition and response to high-risk situations in urban traffic environments where autonomous and conventional vehicles coexist. To this end, high-risk factors were identified through a combination of literature meta-analysis, accident history and image analysis, autonomous driving video review, and expert seminars. For analytical structuring, the six-layer scenario framework from the PEGASUS project was redefined. Using the analytic hierarchy process (AHP), 28 high-risk factors were identified. A risk prediction model framework was then developed, incorporating observational indicators derived from expert rankings. These indicators were structured as input variables for both road segments and autonomous vehicles, enabling spatial risk assessment through agent-based strategies. This space–object integration-based prediction model supports the early detection of high-risk situations, the designation of high-enforcement zones, and the development of preventive safety systems, infrastructure improvements, and policy measures. Ultimately, the findings offer a pathway toward achieving sustainable safety in mixed traffic environments during the initial deployment phase of autonomous vehicles.