Unlike conventional vehicle traffic accidents, autonomous vehicles traffic accidents can be caused by various factors, including technical problems, the environment, and driver interaction. With the future advances in autonomous driving technology, new issues are expected to emerge in addition to the existing accident causes, and various scenario-based approaches are needed to respond to them. This study developed autonomous vehicle traffic accident scenarios by collecting autonomous driving accident reports, CA DMV collision reports, autonomous driving mode disengagement reports, and autonomous driving actual accident videos. The scenarios were derived based on the functional safety system failure modes of ISO 26262 and attempted to reflect the various issues of autonomous driving functions. The autonomous vehicle scenarios derived through this study are expected to play an essential role in preventing and preparing for various autonomous vehicle traffic accidents in the future and improving the safety of autonomous driving technology.