Ensuring Cooperative Driving Automation (CDA) and Vulnerable Road Users (VRUs) Safety Through Infrastructure

Weaver, Starla; Calvo, Jose; Ahmed, Ananna; Eisert, Jesse · 2022 · ROSA P / United States. Federal Highway Administration. Office of Safety and Operations Research and Development

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Summary

This literature review, published by the Federal Highway Administration in 2022, addresses the safety implications of Automated Driving Systems (ADS) and Cooperative Driving Automation (CDA) for Vulnerable Road Users (VRUs), including pedestrians, bicyclists, motorcyclists, and micromobility users. The research is motivated by the significant share of roadway fatalities involving VRUs, particularly in urban areas where fatality rates have risen since 2010. As ADS and CDA technologies are likely to be deployed first in these dense urban environments, the study aims to assess how these technologies impact VRU safety and determine the role infrastructure can play in facilitating safe interactions. The methodology consists of a comprehensive review of existing literature regarding VRU risk factors, ADS capabilities, and CDA impacts. The authors analyzed data on collision rates, sensor performance, and behavioral patterns. Additionally, the report incorporates findings from a panel of subject matter experts who identified prioritized research gaps and safety risks associated with ADS-VRU interactions. The review examines five critical features ADS must possess to interact safely with VRUs: recognizing VRUs, yielding based on local laws, communicating intent, predicting VRU intent, and executing safe driving patterns. The findings highlight that vehicle speed, visibility, and infrastructure design are primary determinants of VRU safety. The review notes that while ADS sensors such as cameras, LiDAR, and radar improve detection, no single sensor or combination currently prevents all potential collisions, particularly in adverse weather or cluttered environments. Infrastructure solutions, such as improved lighting, reduced roadside clutter, and traffic-calming measures, are identified as essential complements to ADS technology. The report also identifies challenges in ADS programming, such as navigating conflicting state laws regarding yielding distances and the difficulty of interpreting non-standard VRU behaviors, such as distraction or the use of mobility aids. Expert opinions suggest that while ADS may reduce human error, they introduce new complexities in communication and intent prediction that infrastructure must help mitigate. The significance of this work lies in its provision of a framework for transportation engineers and agencies to integrate infrastructure countermeasures with emerging vehicle technologies. By identifying specific research needs and safety risks, the report guides future development in ensuring that ADS and CDA deployments enhance rather than compromise VRU safety. It emphasizes that infrastructure is not merely a passive backdrop but an active component necessary to bridge the gaps in current ADS capabilities, particularly in high-risk urban settings.

Key finding

Infrastructure improvements and sensor technology combinations are critical for enhancing vulnerable road user safety in the presence of automated driving systems, though significant research gaps remain regarding intent prediction and legal compliance.

Methodology

review

Provenance

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Summary generated by qwen3.6-27b-prismaquant on 2026-06-10; verification: verified.

Topics

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• vru facing ehmi
• ehmi external hmi
• driver vru interaction
• vru crash typology