Automated vehicles (AVs) are of great potential in reducing crashes on the road. However, it is still complicated to eliminate all the possible accidents, especially those with vulnerable road users (VRUs), who are among the greater risk than vehicle occupants in traffic accidents. Thus, in this paper, we conducted a systematic review of safety-critical scenarios between AVs and VRUs. We identified 39 papers in the literature and typical safety-critical scenarios between AVs and VRUs. They were further divided into three categories, including human factors, environmental factors, and vehicle factors. We then discussed the development, challenges, and possible solutions for each category. In order to further improve the safety of VRUs when interacting with AVs, multiple stakeholders should work together to 1) improve AI and sensor technologies and vehicle automation, 2) redesign the current transportation infrastructure, 3) design effective communication technologies and interfaces between vehicles and between vehicles and VRUs, and 4) design effective simulation and testing methods to support and evaluate both infrastructure and technologies.

翻译：自动驾驶汽车在减少道路碰撞事故方面具有巨大潜力，然而完全消除所有可能的事故仍较为复杂，尤其是涉及弱势道路使用者的事故——这类群体在交通事故中承受的风险远高于车内乘员。为此，本文针对自动驾驶汽车与弱势道路使用者之间的安全关键场景开展了系统性综述。我们筛选出39篇文献及相关典型安全关键场景，并将其划分为三类：人为因素、环境因素与车辆因素。针对每类场景，本文探讨了其发展现状、现存挑战及潜在解决方案。为进一步提升弱势道路使用者在与自动驾驶汽车交互时的安全性，多方利益相关者需协同推进以下工作：1）提升人工智能与传感器技术及车辆自动化水平；2）重新设计现有交通基础设施；3）开发车辆之间、车辆与弱势道路使用者之间高效通信技术与交互界面；4）设计有效的仿真与测试方法以支撑并评估基础设施及技术。