TOYOTA Sienna Incident

While traveling north on [XXX], the Autonomous Vehicle Operator (AVO) engages autonomy 3.0 m before the planned right turn and 7.7 m before the break in the curb while traveling at 8.0 m/s. The May Autonomous Vehicle (ego) was planning to make a tight right turn into a parking lot, which the AVO was unaware of when engaging autonomy. The ego jerked to the right upon entering autonomy, hitting a curb and damaging both passenger-side front and rear tires and the right rear tire rim. The AV attempted the right turn despite not having time to slow sufficiently and mounted the curb. The AVO intervened by accelerating and steering back to the left upon striking the curb, manually maneuvering back to the street while striking a second curb on the opposite side of the parking lot driveway. Resimulations without the manual intervention show the ego slowing appropriately and making the right turn into the parking lot. The AVO should have been attentive to the planned route before engaging autonomy. As a result of this incident, planned improvements to the AVOs instructive dash and audio alerts for upcoming turns have begun to be implemented.