1. by Alain L. Kornhauser, PhD Fellow, Inst. Transportation Engr. (ITE) Professor, ORFE (Operations Research & Financial Engineering) Director, CARTS (Center for Automated Road Transportation Safety) Faculty Chair, PAVE (Princeton Autonomous Vehicle Engineering) Princeton University July 4, 2016 Tesla Crash 05/07/16 Crash Scene

2. http://www.nytimes.com/2016/07/01/business/self-driving-tesla-fatal-crash- investigation.html?rref=collection%2Ftimestopic%2FNational%20Highway%20Traffic%20Safety%20Administration&action=click&contentCollection=timestopics&region=stre am&module=stream_unit&version=latest&contentPlacement=1&pgtype=collection

4. Nominal 12 foot travel lanes Nominal 12 foot turning lanes

5. Nominal 76 foot Grass Median Leaving a Nominal 52 ft. Crossing zone spanning edges of turning lanes

6. Nominal 52 ft. Crossing zone spanning edges of turning lanes

7. Tractor likely travelled about 125 ft. from the point at which it began to make the turn to the point of the crash. At 30 fps (~ 20 mph) that trajectory takes about 4 seconds. The last 30 feet (from nose of truck entering the crash lane to final location) occurs in the last second. Unless the truck was going substantially slower, an AEB that doesn’t “watch” for cross-trajectory Objects, measure their cross trajectory component of velocity and anticipate its encroachment of the lane ahead isn’t likely to perform well.

8. View from the Truck Approach No Stop Sign ! (There is a Yield Sign)

9. 2 2 3 3 4 4 1 1 ~15 Sec. ~36 Sec. ~44 Sec.

10. 5 5 6 6 7 7 8 8 1 1 ~6.7 Sec. ~5.5 Sec. ~2.7 Sec. ~1.6 Sec.

11. 1. View at crash Intersection towards on-coming Tesla

12. 2. View toward crash Intersection From Tesla Location about 44 seconds before crash (Tesla has not released data as to the speed of the Tesla as it approached the crash. One eye witness (Mulligan) claimed the Tesla was not speeding. I assumed it was traveling at a constant 100 fps or about 68 mph)

13. 3. View toward crash Intersection From Tesla Location about 36 seconds before crash

14. 4. View toward crash Intersection From Tesla Location about 15 seconds before crash

15. 5. View toward crash Intersection From Tesla Location about 6.7 seconds before crash

16. 6. View toward crash Intersection From Tesla Location about 5.5 seconds before crash

17. 7. View toward crash Intersection From Tesla Location about 2.7 seconds before crash @ 100 ft/sec = 68.2 mph

18. 8. View toward crash Intersection From Tesla Location about 1.6 seconds before crash @ 100 ft/sec = 68.2 mph

19. The 1 st Fence

20. The 2 nd Fence

21. The Pole

22. Distance to Pole ~ 870 ft