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outdoor surface turns wet. Grip left on asphalt: 75% in light rain, 60% moderate, 50% heavy, so the shuttle brakes at about 5.7 m/s² instead of 8.6 in moderate rain. Concrete, grass and dirt lose less. Lidar range drops 8%, 15% or 28%, and in heavy rain a few false echoes appear close to the sensor, which can make a system brake for nothing. Drones only feel the shorter lidar range."},{"id":"snow","label":"Snow","group":"Weather","effect":"Asphalt, concrete, grass, gravel and dirt turn to snow: grip falls to 30%, 25% or 20% of dry asphalt for light, moderate or heavy snow, braking at about 2.4 m/s² when moderate. Lidar range drops 20%, 30% or 45%, and moderate or heavy snow adds false echoes close to the sensor."},{"id":"fog","label":"Fog or low visibility","group":"Weather","effect":"Lidar range shrinks with visibility: full range at 800 m visibility or more, down to a quarter of it in thick fog. In 250 m fog the shuttle's 80 m lidar sees about 25 m."},{"id":"wind","label":"Strong wind or gusts","group":"Weather","effect":"Pushes drones through drag on their airspeed, so they drift and spend more battery. Each run varies the average wind a little and adds random turbulence and gusts. Ground vehicles do not feel wind."},{"id":"tornado","label":"Tornado","group":"Weather","effect":"A funnel that touches down and moves in a straight line. Its wind turns round the centre, strongest at the edge of the core and half as strong at twice that distance, pulls inward near the ground and lifts in the core. A 55 m/s tornado 120 m across still blows 18 m/s 200 m away. Drones are thrown about and carried; cars and robots are pushed sideways once the wind beats their tyres. Ordinary wind does not move ground vehicles; a tornado does."},{"id":"cold","label":"Below freezing","group":"Weather","effect":"The battery holds less: 0.8% less capacity for every degree below 15 °C, so minus 8 °C costs about 18%. Cold alone never creates ice; that needs an ice patch."},{"id":"grip","label":"Ice or low grip","group":"Surface","effect":"A patch of road with less grip, only inside the patch: wet asphalt 60% of dry grip, mud 30%, snow 25%, ice 10%. On ice the shuttle brakes at about 1 m/s², so stopping from 11 m/s takes about 60 m."},{"id":"spoof","label":"GNSS spoofing","group":"Navigation","effect":"The reported satellite position walks away from the truth at a set speed and direction, and the reported velocity agrees with the walk. A system that does not cross check its own motion follows the false position."},{"id":"jam","label":"GNSS jamming or loss","group":"Navigation","effect":"No satellite fix for the set time. The system has to carry on with its own motion estimate, hold, or stop, as its declared safety rules say."},{"id":"sensor","label":"Sensor fault","group":"Navigation","effect":"The lidar stops returning anything, or the satellite position freezes on its last value, for the set time."},{"id":"link","label":"Command link loss","group":"Commands","effect":"The command link goes silent: anything sent in that time is lost. The system's link loss safety rule should take over."},{"id":"unsigned","label":"Unsigned commands","group":"Commands","effect":"A command arrives without a valid signature. DTS also runs the same scenario with that message withheld; if the two runs differ, the unsigned command changed what the vehicle did."},{"id":"unsafe","label":"Unsafe signed instructions","group":"Commands","effect":"A correctly signed instruction from the operator that would break one of the system's own safety rules, such as driving through a closed area."},{"id":"people","label":"People in the path","group":"Traffic","effect":"A pedestrian or cyclist walks a set path, usually starting when the vehicle comes within a set distance. They do not react to the vehicle."},{"id":"hidden","label":"Hidden until late","group":"Traffic","effect":"A parked vehicle blocks the lidar's view of a person until they step out, so the system sees them late."},{"id":"crowd","label":"Crowds","group":"Traffic","effect":"Three or more people moving on their own paths at once."},{"id":"vehicles","label":"Other vehicles","group":"Traffic","effect":"Another vehicle in the path, moving or broken down. It follows a set path and does not react."},{"id":"aircraft","label":"Other aircraft","group":"Traffic","effect":"Another aircraft flies a set path at a set height, often timed to meet the drone."},{"id":"pursuit","label":"Chased by another vehicle","group":"Traffic","effect":"Another vehicle or aircraft steers toward the system at a set speed and turn rate, leading its aim by up to 3 s, and matches an aircraft's height. It does not avoid anything else."},{"id":"fleet","label":"Several of its own vehicles","group":"Traffic","effect":"Several vehicles run the system under test at once, each with its own sensors and its own copy of the software. They see each other and can collide. Findings cover two of them touching, or coming closer than 10 m for aircraft, or about a hand's width end on for ground vehicles."},{"id":"obstacle","label":"Unexpected obstacle","group":"Obstacles","effect":"Something not on the map appears at a set time. Thin objects such as crane booms and cables only return 20% of lidar beams, so they are easy to miss."},{"id":"closure","label":"Area closed mid run","group":"Rules","effect":"A restricted area is declared over the route during the run and sent to the system as a signed notice. Entering it counts as a finding, judged from the true position."},{"id":"damage","label":"Rotor damage","group":"Power","effect":"One rotor loses a set share of its thrust. On ArduPilot each motor is simulated, so the real autopilot has to cope. The built in drones use a single thrust model that reproduces the effects: less thrust headroom and tilt, more power drawn, and past about 40 percent loss a spin the controller cannot stop. Losing most of a rotor brings a quadrotor down."},{"id":"struck","label":"Struck in flight","group":"Power","effect":"A bird, a bird of prey or a piece of debris flies into the drone. It is a real body in the physics, so the hit pushes the drone by momentum, and the impact energy takes thrust from the rotor nearest the point of contact: about 150 J, a gull meeting the drone head on, takes a whole rotor. A tornado with debris flings real pieces too."},{"id":"battery","label":"Battery trouble","group":"Power","effect":"The battery suddenly loses a set share of its charge, or the run starts on a partly charged battery."}],"sweep":{"tests":89,"failed":43,"vehicles":4}}