Re:Uber’s self-driving car could not detect pedestrians outs...
by mzs on Wednesday November 06, 2019 @04:13PM
(#21467366)
It took over four seconds for the system to decide swerving was not sufficient based on path prediction. The improvements made after this report would have initiated braking seconds earlier.
-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
-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
https://dms.ntsb.gov/public/62500-62999/62978/629713.pdf