Document presents research on Safety Performance Indicators (SPIs) for continuous monitoring and evaluation of Automated Driving Systems safety. Leading indicators anticipate outcomes through metrics including time-based, distance-based, probability-based and deceleration-based measures; lagging indicators confirm outcomes after occurrence such as crashes and injuries. Analysis of 21 datasets identified SHRP2 as primary source with 1402 crashes and 5262 near-crashes. Performance evaluation using Distance Headway and Time-to-Collision achieved Area Under the Curve close to 0.9 distinguishing crashes and near-crashes from normal driving. Main bottleneck identified is data quality and scarcity of reliable safety event labels.
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