ACAV Demo

Merging Accident 1

Reduced Recording.

Original Recording.

Causality Analysis by ACAV

TimeAccident Causal EventsDetails
0s No Planning Faults Discovered:
EV keeps safe distance from NPCs		 --
0.4s 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
0.8s In Planning Module and Prediction Module:
Wrong identification of drivable area, caused by wrong trajectory prediction
In Control Module:
EV is skidding sometimes		 AV's Planning speed is too fast or too slow
For NPC 2:
Wrong trajectory prediction caused by wrong priority prediction
For NPC 4:
Improper "overtake" decision
2.6s 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
4.3s Accident!

The reduced recording by ACAV starts at about 11.2s and ends at 15.5s in the original recording.
Check the original report.