Caution

Question 1

Agents near Crosswalks

Answer 1

Use caution for peds near crosswalks, especially ped warms, as hero may over-yield to these agents

Question 2

Agents entering Crosswalks

Answer 2

Use caution for peds stepping into CW near Hero, especially bikes.

Question 3

Agents in bidi lane

Answer 3

Use caution for agents in a bidirectional lane in front of hero. Hero may brake tap or try to lane change away from the agent.

Question 4

Agents Undercutting Hero While Entering Turn Lane

Answer 4

Use caution if Hero needs to merge into the turning lane with agents driving in bike/parking lane, hero may not react properly for undercutting agents

Question 5

Bikes

Answer 5

Use caution for bikes. (a) cutting in front of Hero from any direction. Hero may not yield or follow appropriately until bike is directly ahead in Hero’s corridor. (b) attempting to overtake hero.

Question 6

Caution when Hero making UPL and large vehicle oncoming

Answer 6

Use caution when making Unprotected left turn (UPL) with large agents oncoming due to inconsistent predictions potentially causing hero to turn before the junction is fully clear

Question 7

Construction Zones

Answer 7

Use caution when approaching construction zones as Hero may incorrectly handle them.

Question 8

Construction Zone Signs

Answer 8

Use caution when in close proximity to construction zone signs. Hero may not properly detect them, especially if partially occluded (see photo for example).

Question 9

DPVs blocking lane

Answer 9

Use caution when Hero attempts to go around DPV’s blocking Hero’s lane

Question 10

Engaging on High Speed Roads

Answer 10

Leave >= 1sec time gap between Hero and a lead vehicle before engaging while traveling on a high speed road 40+mph

Question 11

Flashing traffic lights

Answer 11

Proceed with Caution when approaching flashing traffic lights (red or yellow).Please give TeleOps a chance (if safe to do so) to support the following flashing traffic light scenarios: Flashing yellow light, Hero turning right . Flashing yellow light, Hero going straight . Flashing red light, Hero turning right

Question 12

Forced Merges

Answer 12

Use caution for forced merges with other agents as Hero may fail to give way

Question 13

False Positive (FP) yielding at Protected and Un-Protected Lefts (including traffic light and non traffic light junctions)

Answer 13

Use caution when hero is making a protected left at a traffic light junction, especially when Vulnerable Road User (VRU) are near sidwalks/crosswalks at intersections. Hero may over-yield to cross traffic or oncoming traffic merging with our lane.

Question 14

Get On Road Yielding

Answer 14

Use caution if Hero is attempting to get on road and there is a vehicle approaching from the lane Hero is targeting.

Question 15

Lane change at high speeds

Answer 15

Use caution if Hero attempts to lane change at high speed with OR without agents present.

Question 16

Legal Left On Red onto One-Way

Answer 16

Use caution when Hero is making unprotected Left on Red turn onto a one-way street, especially during occluded scenarios.

Question 17

Long Junctions

Answer 17

Use caution when Hero is entering Long Junctions as Hero can lose traffic light visibility when we’re half way through the junction and that can lead to over-yielding for the exit crosswalk.

Question 18

Merging from Bidi lane

Answer 18

Use caution if a vehicle is traveling in our direction on a bidi lane

Question 19

Multilane Unprotected Left (UPL)

Answer 19

Use caution for multilane unprotected left across multiple lanes of traffic.

Question 20

Narrow Roads

Answer 20

(a) Be cautious of swerve/jerking when adjacent to (long) vehicles that may turn, or in intersections where parked cars can force other vehicles to nudge towards Hero’s lane. (b) Use caution near short pylons on California and in narrow road segments with agents nearby

Question 21

Oncoming vehicles in the adjacent lane, especially on curved roads

Answer 21

Use caution around oncoming vehicles in the adjacent lane, as Hero may brake tap or nudge due to a trajectory that intersects with the Hero path.

Question 22

Oncoming

Answer 22

Use caution when an oncoming agent turns in front of us while we are in a normal driving lane (not a junction). Ex: Any agent in front of us either making a u-turn or left turn into an alleyway or driveway.

Question 23

Open Door

Answer 23

Use caution with peds around parked cars, opening doors on parked cars within 20m, and open doors on dynamic vehicles whether tagged as a dpv or not.

Question 24

Over-yielding to Agents at/in junctions/driveways

Answer 24

Hero may over-yield to agents in/at junctions. This includes the Bayside roundabout. Use caution around these agents if there is an agent following Hero from closely behind.

Question 25

Parked Cars

Answer 25

Hero will nudge and/or slow for parked vehicles. Be cautious in scenarios with oncoming agents as Hero nudges away from the parked cars. Hero may get closer to the lane boundary where oncoming agents or adjacent traffic may be

Question 26

Parking Lane Agents

Answer 26

Use caution with any agents moving in the parking lane, especially bikes and e-scooters. We may have late or no reaction when they enter hero’s lane. Disengage if Hero blocks the path of agents moving in the parking lane.

Question 27

Perpendicular Cutins

Answer 27

Use caution for driveway/parking lot/parking lane cut-ins that are perpendicular to Hero. Hero may get a FP parking or late perpendicular cut-in prediction and not yield appropriately. This applies to vehicles at a 40-90 degree angle (roughly “perpendicular”) to Hero.

Question 28

PUDO Yielding

Answer 28

Use caution if Hero is attempting PUDO and there exists an agent in the PUDO space or an agent moving towards the PUDO space.

Question 29

Queue/Stacked Traffic

Answer 29

Use caution when approaching stacked traffic or queueing scenarios; eg. fp dpv’s that may cause hero to swerve try and drive around traffic or agents using bi-di lanes to drive around hero to enter turn lanes

Question 30

Reversing Handling

Answer 30

Use caution if an agent is reversing towards Hero.

Question 31

Right Hand Turn on one-way street

Answer 31

Use caution when agents are making a right hand turn as hero may yield ot vehicle in inside/adjacent lane

Question 32

Restricted Lane (Bus/Taxi Lane)

Answer 32

Disengage if Hero attempts to enter restricted lane such as a bus/taxi lane. However, do your best to not disengage too early, so the scenario can be resimulated at a later time.

Question 33

Slow Moving Vehicles Turning in Front of Hero

Answer 33

Use caution when a slow moving vehicle turns in front of hero. Hero may experience a delayed detection, potentially leading to not slowing down in time.

Question 34

Unprotected right turns / RoR

Answer 34

Use caution at unprotected right turns or right-on-reds as hero may not yield correctly to fast-approaching cross-traffic