TOYOTA Sienna Incident

The May autonomous shuttle (Ego) stopped in Autonomous mode safely behind a lead vehicle at a traffic light, which then, the lead vehicle, reversed into the stationary Ego. The Autonomous vehicle operator took over control of the vehicle and attempted to reverse, but was unable to get out of the way of the reversing vehicle. The planner did roll out the agent with a reversing policy and predicted the collision, but the system currently is not able to honk or reverse or do anything else that could have avoided this. The primary factor was fault by the lead vehicle. There was no fault in our software that led to this event.