| Time | Accident Causal Events | Details |
|---|---|---|
| 0s | 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 4: Wrong trajectory prediction Improper "follow" decision (too close) |
| 2.6s | No Planning Faults Discovered: EV keeps safe distance from NPCs |
-- |
| 3s | No Planning Faults Discovered: Collision-free long-term speed planning In Control Module: EV is skidding sometimes |
For NPC 4: Wrong trajectory prediction Improper "follow" decision (too close) |
| 4.1s | 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 4: Wrong trajectory prediction |
| 5s | Accident! |
The reduced recording by ACAV starts at about 46.1s
and ends at 51s in the original recording.
Check the original report.