Toyota Sienna Incident

The May vehicle was traveling through an intersection with a van in the oncoming left turn lane. As the May vehicle enters the intersection, the van creeps towards its turn. Predicting that the two will get too close, the May vehicle elects to stop hard. As vehicle is coming to a stop in the stop-hard policy, the turning van fails to respond in time and collides with the rear left corner of the vehicle. In the new software, deploying within the next month, agent-proximity has been replaced with agent-clearance. Performing resimulations of the incident with the latest branch verifies that this issue does not persist.