applied sciences Article Autonomous Driving—A Crash Explained in Detail Johannes Betz 1,* , Alexander Heilmeier 1 , Alexander Wischnewski 2 , Tim Stahl 1 and Markus Lienkamp 1 1 Institute of Automotive Technology, Technical University of Munich, Boltzmannstr. 15, 85748 Garching b. München, Germany;
[email protected] (A.H.);
[email protected] (T.S.);
[email protected] (M.L.) 2 Institute of Automatic Control, Technical University of Munich, Boltzmannstr. 15, 85748 Garching b. München, Germany;
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[email protected] Received: 2 October 2019; Accepted: 19 November 2019; Published: 26 November 2019 Abstract: Since 2017, a research team from the Technical University of Munich has developed a software stack for autonomous driving. The software was used to participate in the Roborace Season Alpha Championship. The championship aims to achieve autonomous race cars competing with different software stacks against each other. In May 2019, during a software test in Modena, Italy, the greatest danger in autonomous driving became reality: A minor change in environmental influences led an extensively tested software to crash into a barrier at speed. Crashes with autonomous vehicles have happened before but a detailed explanation of why software failed and what part of the software was not working correctly is missing in research articles. In this paper we present a general method that can be used to display an autonomous vehicle disengagement to explain in detail what happened. This method is then used to display and explain the crash from Modena. Firstly a brief introduction into the modular software stack that was used in the Modena event, consisting of three individual parts—perception, planning, and control—is given.