Toyota Sienna Incident

While traveling northbound on[XXX] in Martinez, a car pulled out of a driveway on the right side without right of way and collided with the right side of May's vehicle (t-bone.) May's vehicle was traveling at approximately 20 MPH in a residential neighborhood, and was approximately 1m left of lane center when a black vehicle exited a driveway on the right from behind a fence, facing the road and May's vehicle. This vehicle did not slow down or stop until entering into the roadway and collided with the May vehicle's right side. AVO attempts to swerve to the left but is unable to avoid a collision. The primary factor that led to the collision was the other vehicles action proceeding without the right-of-way into the side of the May vehicle. Upon further inspection, it was determined that we did not predict this collision until it was too late to avoid it even by veering. The velocity of the other vehicle was underestimated and was largely given only yield policies as having the most significant likelihood. There is some room for improvement in our response, which we plan to implement in future software releases, namely, an emergency veer policy must exist that is capable of moving quickly and far enough to possibly avoid the collision, more accurate reporting of velocity for slow-moving agents, estimate acceleration when assessing risk, improvements to predictions of the probability of an agent yielding, and adjusting our risk assessment so that it is heading dependent and more risk would be associated with passing close in front of another vehicle.