ACAV Demo

Intersection Accident 1

Reduced Recording.

Original Recording.

Causality Analysis by ACAV

TimeAccident Causal EventsDetails
0s No Planning Faults Discovered:
EV keeps safe distance from NPCs		 --
2.6s In Planning Module:
EV reuses the previous planning, which sometimes could be improper 		AV's planning speed is too fast or too slow
2.9s No Planning Faults Discovered:
Collision-free long-term speed planning
In Control Module:
EV is skidding sometimes 		AV's Planning speed is too fast or too slow
For NPC 3:
Wrong trajectory prediction
Improper "follow" decision (too close)
5.7s In Planning Module:
Wrong motion planning, although identifying drivable area correctly
In Control Module:
EV is skidding sometimes 		AV's Planning speed is too fast or too slow
For NPC 3:
Wrong priority/trajectory prediction
6.2s Accident!

The reduced recording by ACAV starts at about 7.8s and ends at 14s in the original recording.
Check the original report.