Comparative Safety Performance of Autonomous- and Human Drivers: A Real-World Case Study of the Waymo One Service. - Luigi Di Lillo; Tilia Gode; Xilin Zhou; Margherita Atzei; Ruoshu Chen; Trent Victor (CoRR, 2023)

Comparison of Waymo Rider-Only Crash Data to Human Benchmarks at 7.1 Million Miles. - Kristofer D. Kusano; John M. Scanlon; Yin-Hsiu Chen; Timothy L. McMurry; Ruoshu Chen; Tilia Gode; Trent Victor (CoRR, 2023)