Caution Flashcards
Caution odds
Agents near Crosswalks
Use caution for peds near crosswalks, especially ped warms, as hero may over-yield to these agents
Agents entering Crosswalks
Use caution for peds stepping into CW near Hero, especially bikes.
Agents in bidi lane
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.
Agents Undercutting Hero While Entering Turn Lane
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
Bikes
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.
Caution when Hero making UPL and large vehicle oncoming
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
Construction Zones
Use caution when approaching construction zones as Hero may incorrectly handle them.
Construction Zone Signs
Use caution when in close proximity to construction zone signs. Hero may not properly detect them, especially if partially occluded (see photo for example).
DPVs blocking lane
Use caution when Hero attempts to go around DPV’s blocking Hero’s lane
Engaging on High Speed Roads
Leave >= 1sec time gap between Hero and a lead vehicle before engaging while traveling on a high speed road 40+mph
Flashing traffic lights
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
Forced Merges
Use caution for forced merges with other agents as Hero may fail to give way
False Positive (FP) yielding at Protected and Un-Protected Lefts (including traffic light and non traffic light junctions)
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.
Get On Road Yielding
Use caution if Hero is attempting to get on road and there is a vehicle approaching from the lane Hero is targeting.
Lane change at high speeds
Use caution if Hero attempts to lane change at high speed with OR without agents present.
Legal Left On Red onto One-Way
Use caution when Hero is making unprotected Left on Red turn onto a one-way street, especially during occluded scenarios.
Long Junctions
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.
Merging from Bidi lane
Use caution if a vehicle is traveling in our direction on a bidi lane
Multilane Unprotected Left (UPL)
Use caution for multilane unprotected left across multiple lanes of traffic.
Narrow Roads
(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
Oncoming vehicles in the adjacent lane, especially on curved roads
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.
Oncoming
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.
Open Door
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.
Over-yielding to Agents at/in junctions/driveways
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.
Parked Cars
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
Parking Lane Agents
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.
Perpendicular Cutins
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.
PUDO Yielding
Use caution if Hero is attempting PUDO and there exists an agent in the PUDO space or an agent moving towards the PUDO space.
Queue/Stacked Traffic
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
Reversing Handling
Use caution if an agent is reversing towards Hero.
Right Hand Turn on one-way street
Use caution when agents are making a right hand turn as hero may yield ot vehicle in inside/adjacent lane
Restricted Lane (Bus/Taxi Lane)
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.
Slow Moving Vehicles Turning in Front of Hero
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.
Unprotected right turns / RoR
Use caution at unprotected right turns or right-on-reds as hero may not yield correctly to fast-approaching cross-traffic
