| Scenarios | Vehicle composition | Lane width (meters) | Crosswalk width (meters) | Vehicle volume | Pedestrian volume | Priority rules | Driving behavior | Speed (human-driven) | Speed (CAVs) |
| 1 | 100% CAVs | 3.5 | 3 | Variables | Variables | Pedestrian yield to vehicles; right turn has priority | AV-all-knowing (CoExist) | Variables | Variables |
| 2 | 75% CAVs, 25% huamn-driven cars | 3.5 | 3 | Variables | Variables | Pedestrian yield to vehicles; right turn has priority | AV-all-knowing (CoExist); Urban (motorized) | Variables | Variables |
| 3-a | 50% CAVs, 25% huamn-driven cars | 3.5 | 3 | Variables | Variables | Pedestrian yield to vehicles; right turn has priority | AV-all-knowing (CoExist); Urban (motorized) | Variables | Variables |
| 3-b | 50% CAVs, 25% huamn-driven cars | 3.5 | 3 | Variables | Variables | Signal system; vehicles yield to pedestrians; right turn has priority | AV-all-knowing (CoExist); Urban (motorized) | Variables | Variables |
| 4 | 100% huamn-driven cars | 3.5 | 3 | Variables | Variables | Signal system; vehicles yield to pedestrians; right turn has priority | Urban (motorized) | Variables | Variables |
| 5 | 25% CAVs, 75% huamn-driven cars | 3.5 | 3 | Variables | Variables | Signal system; vehicles yield to pedestrians; right turn has priority | AV-all-knowing (CoExist); Urban (motorized) | Variables | Variables |