Chuck with the jitters means another beer for me from
@Daniel in SD !!! (Combining this with the earlier 6 attempts from 10.69.3 - which we counted as 6/6 even though it was actually 5/6 - you’ll recall my magnanimity.)
I’ll come up with the final count in a bit and modify this post.
----- Modifications....
It was 6/8 or 5/8.
First attempt was a failure. It was definitely correct for Chuck to disengage (not jitters). Car's body language was completely wrong.
5th attempt was arguably a failure with a large gap (> 6 seconds) it should have gone on. We'll give it a pass, but note this is NOT setting a precedent for allowing such mediocrity.
6th attempt was a failure due to a massive gap (>7 seconds I think) that was missed, but also Chuck disengaged in the median (human/machine interface issues!).
Combine with 6/6 to give us 12/14 or 86%. So close!
Overall the behavior looks like it could work. Working on improving that communication between the driver and the machine is clearly needed. It's also not nearly as assertive or fast as it should be.
This was the version that had the better cross-traffic speed estimation (wasn't it?), and that seems to have led to some regression in its ability to shoot gaps.
As discussed before, it's essential that it be more aggressive in crossing the road. It will not be comfortable at all until it drives more assertively.
Looking forward to them overfitting a few more scenarios. My unprotected left turn is still a debacle of different outcomes. It can usually do it without disengagement, but it is very slow and clumsy and the path it takes (using the merge lane or not) is completely unpredictable. And there's a lot of jerking. It also doesn't get the speed right on the main road so I have to remember to manually dial up the speed to 45mph before it starts the turn, otherwise it turtles at 25mph on a road where people
legally travel at 60mph (speed "limit" 45mph).
Definitely more analysis of this video to be done, but don't have the time at the moment.