-5.6s 44mph Classification: Vehicle - by radar Path prediction: None; not on the path of the SUV
- Radar makes the first detection of the pedestrian and estimates its speed.
...
-1.5s 44mph Classification: Unknown - by lidar Path prediction: Static; partially on the path of the SUV
- Lidar detects an unknown object; since this is a changed classification, and an unknown object, it lacks tracking history and is not assigned a goal. ADS predicts the object’s path as static. - Although the detected object is partially in the SUV’s lane of travel, the ADS generates a motion plan around the object (maneuver to the right of the object); this motion plan remains valid—avoiding the object—for the next two data points.
-1.2s 43mph Classification: Bicycle - by lidar Path prediction: The travel lane of the SUV; fully on the path of the SUV
- Lidar detects a bicycle; although this is a changed classification and without a tracking history, it was assigned a goal. ADS predicts the bicycle to be on the path of the SUV. - The ADS motion plan—generated 300 msec earlier—for steering around the bicycle was no longer possible; as such, this situation becomes hazardous. - Action suppression begins.
* The vehicle started decelerating due to the approaching intersection, where the pre-planned route includes a right turn at Curry Road. The deceleration plan was generated 3.6 seconds before impact