Doggydogworld
Active Member
Every millisecond? Are you sure? I think their lidar is 20 Hz, i.e. 50 ms. Video is usually 24-60 fpg, so 16-41 ms. I don't know about radar, but overall I doubt they recalculate more often than once every 20-30 ms. Note that 30 ms is about one meter on the highway, only about a foot in city traffic.It is not too hard to calculate future positions of vehicles when you know their exact speed and trajectory. The Waymo stack does this every millisecond with high accuracy.
Better than any theory I have, but that'd be a real screwup. Waymo should predict ego speed and location with near-perfect accuracy vs. oncoming vehicle predictions which necessarily come with wide error bands.In the video, we see the Waymo start to creep forward and then stop. I think the Waymo initially calculated the future positions accurately of the vehicles and determined it was safe to make the turn. So the planner told the car to proceed but the Waymo moved too slowly. This was a case where if the Waymo had "gunned it" immediately, I think it could have made the turn safely but it hesitated a fraction of second and that was enough for the turn not to be safe anymore. The Waymo recalculated the future positions of the vehicles accurately and determined that it was no longer safe so the planner told the car to stop.
Interesting. Seems the best response to a possible fallen rider would be to slow and lengthen the following distance. Unis don't stop that well so I'd expect the others to swerve around their fallen comrade. Of course I doubt they have much pack-of-unicycle training data, so a little confusion is understandable. Even so, I'd still expect confusion to result in slowing or stopping vs. 40 seconds of blatantly illegal driving into oncoming traffic."Waymo told the Chronicle in a statement that the robotaxi “detected that there may be a risk of a person within that crowd who had fallen down, and decided to carefully initiate a passing maneuver when the opposing lane was clear to move around what could be an obstacle and a safety concern.”