Lexus RX450H Incident

Summary of incidentLeading up to the event, the autonomy system functioned as expected, following the route through the intersection, slowing appropriately for other road users and the red light. Vehicle autonomous behavior was performing as expected and did not require a takeover.Description of event:16:17:30 May vehicle, traveling East on [XXX], in full working order with no errors, autonomously navigates the [XXX] and [XXX] intersection.16:17:35 May vehicle autonomously begins to slow to match the speed of a vehicle several car lengths ahead merging into our lane from the right.16:17:37 By means of an accelerator pedal push the vehicle is moved into manual mode by the safety operator - from this point forward, the vehicle remains under control of the safety operator.16:17:43 Manual acceleration command via the pedal increases.16:17:44 Safety operator manually continues straight which, due to the slight change in angle of the road, brings the May vehicle into contact with the first vehicle to the right.16:17:44 Safety operator manually applies brake.16:17:45 With the manual brake command now at maximum the May vehicle makes contact with the second vehicle.Vehicle indicators for manual or autonomy mode:The visual indicator for autonomy was functioning properly and as expected in the time leading up to and during the event.The audio communication device in the vehicle was functioning properly and was used to call for assistance and to report the incident.The audio beep to indicate a state change was functioning properly.The safety operator had some audio indication that he had exited autonomy and entered manual operation, and he had full visual indication on his dashboard.