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 init

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 https://dms.ntsb.gov/public/62500-62999/62978/629713.pdf https://dms.ntsb.gov/public/62500-62999/62978/629713.pdf