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)

Benchmarks for Retrospective Automated Driving System Crash Rate Analysis Using Police-Reported Crash Data. - John M. Scanlon; Kristofer D. Kusano; Laura A. Fraade-Blanar; Timothy L. McMurry; Yin-Hsiu Chen; Trent Victor (CoRR, 2023)

Dynamic Benchmarks: Spatial and Temporal Alignment for ADS Performance Evaluation. - Yin-Hsiu Chen; John M. Scanlon; Kristofer D. Kusano; Timothy L. McMurry; Trent Victor (CoRR, 2024)

Comparison of Waymo Rider-Only Crash Rates by Crash Type to Human Benchmarks at 56.7 Million Miles. - Kristofer D. Kusano; John M. Scanlon; Yin-Hsiu Chen; Timothy L. McMurry; Tilia Gode; Trent Victor (CoRR, 2025)