March 3, 2022 NHTSA CAMPAIGN NUMBER: 22E016000
Software Error May Cause ADS Shutdown
An unexpected ADS shutdown while in motion can increase the risk of a crash.
NHTSA Campaign Number: 22E016
Manufacturer Pony.ai
Components ELECTRICAL SYSTEM
Potential Number of Units Affected 3
Summary
Pony.ai is recalling certain Automated Driving Systems (ADS) with software version v2_20210712, and subsequent versions through v2_20210920_RC38, and v2_20211004. A software error may cause the ADS to shutdown unexpectedly while the vehicle is moving.
Remedy
Pony.ai updated the ADS software code, free of charge. All affected vehicles have been repaired.
Notes
Owners may also contact the National Highway Traffic Safety Administration Vehicle Safety Hotline at 1-888-327-4236 (TTY 1-800-424-9153), or go to www.nhtsa.gov.
Chronology :
Pony.ai, Inc., founded in 2016, is an autonomous driving system (“ADS”) developer. It does not presently manufacture for sale, sell, lease, or commercially use its ADS or vehicles equipped with an ADS. It purchases FMVSS-compliant vehicles, installs its ADS and uses those ADS-equipped vehicles (AVs) solely for its own research, development, and testing. Pony.ai’s ADS and AVs have not crossed state lines, and the AVs operate entirely and exclusively within the State of California, pursuant to testing permits issued by the State of California.
October 28, 2021: During an AV test run in Fremont, CA, a Pony.ai ADS geolocation diagnostic check erroneously classified floating-point number rounding errors as a geolocation mismatch. There was no location mismatch, but the diagnostic check misinterpreted operationally immaterial floating point number rounding errors. This resulted in a “false positive” determination of a geolocation mismatch, which caused the ADS to shut down.
Less than 2 ½ seconds after the ADS shutdown, the vehicle’s momentum caused it to collide with a street sign on the median. There were no injuries or other property damage due to the collision. That evening, Pony.ai revised the relevant ADS code to correct the coding error and eliminate potential misdiagnosis of floating-point number rounding errors.
November 5: A new binary with the corrected software code replaced binary _v2_20212009_RC38 as the live version for future driverless testing.
February 24, 2022: NHTSA advised Pony.ai that it believed Pony.ai’s ADS had a safety defect and requested that Pony.ai file a 49 CFR Part 573 defect report. Pony.ai ne with a street sign on the median. There were no injuries or other property damage due to the collision. That evening, Pony.ai revised the relevant ADS code to correct the coding error and eliminate potential misdiagnosis of floating-point number rounding errors.
1 Affected Product
Equipment
| BRAND | PART NO. | PRODUCTION DATES |
| PONY.AI | AUTOMATED DRIVING SYSTEM | |
4 Associated Documents
Defect Notice 573 Report
RCLRPT-22E016-6814.PDF 215.549KB
Recall Acknowledgement
RCAK-22E016-8366.pdf 698.906KB
Recall 573 Report- 10/6/2022
RCLRPT-22E016-8920.PDF 215.733KB
Recall Quarterly Report #1, 2021-4
RCLQRT-22E016-4457.PDF 211.106KB
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SEOCONTENT-START
OMB Control No.: 2127-0004
Part 573 Safety Recall Report 22E-016
The information contained in this report was submitted pursuant to 49 CFR §573
Manufacturer Name : Pony.ai
Submission Date : OCT 06, 2022
NHTSA Recall No. : 22E-016
Manufacturer Recall No. : NR
Manufacturer Information :
Manufacturer Name : Pony.ai
Address : 3501 Gateway Blvd
Fremont CA 94538
Company phone : 9513840
Population :
Number of potentially involved : 3
Estimated percentage with defect : 100 %
Equipment Information :
Brand / Trade 1 : Pony.ai, Inc.
Model : Pony.ai ADS software release _v2_20210712_ and subsequent versions through
_v2_20210920_RC38_, and v2_20211004_
Part No. : _v2_20210712 et seq.
Size : NR
Function : NR
Descriptive Information : The subject population includes Pony.ai Automated Driving System (“ADS”) with
software release _v2_20210712 and subsequent versions
through_v2_20210920_RC38, and v2_20211004. At the time of the incident
described in the chronology, this totaled 3 ADS units. The recall population was
determined through a review of software release records.
Production Dates : JUL 09, 2021 – OCT 28, 2021
Description of Defect :
Description of the Defect : In a very rare combination of circumstances, one planning system diagnostic
check could generate a “false positive” indication of a geolocation mismatch.
FMVSS 1 : NR
FMVSS 2 : NR
Description of the Safety Risk : An ADS shutdown while the vehicle is moving could increase the risk of a
collision.
Description of the Cause : Former versions of certain ADS software included geolocation diagnostic
coding that in rare circumstances could incorrectly interpret small floatingpoint
number rounding errors (or “discrepancies”). As a result, it was possible
that one specific diagnostic matching function could incorrectly interpret an
inconsequential rounding discrepancy as a geolocation mismatch. During a
test run, a Pony.ai AV was running a geolocation diagnostic check when a very
Part 573 Safety Recall Report 22E-016 Page 2
The information contained in this report was submitted pursuant to 49 CFR §573
rare combination of factors and conditions generated a floating-point rounding
discrepancy that the diagnostic check misinterpreted as a location mismatch.
This error caused the diagnostic check to shut down the ADS. That shutdown
led to a single vehicle collision with a small street sign on the median and
related damage to the vehicle, but no other property damage and no injuries.
Identification of Any Warning
that can Occur :
NR
Involved Components :
Component Name : NR
Component Description : NR
Component Part Number : NR
Supplier Identification :
Component Manufacturer
Name : NR
Address : NR
NR
Country : NR
Chronology :
Pony.ai, Inc., founded in 2016, is an autonomous driving system (“ADS”) developer. It does not presently
manufacture for sale, sell, lease, or commercially use its ADS or vehicles equipped with an ADS. It purchases
FMVSS-compliant vehicles, installs its ADS and uses those ADS-equipped vehicles (AVs) solely for its own
research, development, and testing. Pony.ai’s ADS and AVs have not crossed state lines, and the AVs operate
entirely and exclusively within the State of California, pursuant to testing permits issued by the State of
California.
October 28, 2021: During an AV test run in Fremont, CA, a Pony.ai ADS geolocation diagnostic check
erroneously classified floating-point number rounding errors as a geolocation mismatch. There was no
location mismatch, but the diagnostic check misinterpreted operationally immaterial floating point number
rounding errors. This resulted in a “false positive” determination of a geolocation mismatch, which caused the
ADS to shut down.
Less than 2 ½ seconds after the ADS shutdown, the vehicle’s momentum caused it to collide with a street sign
on the median. There were no injuries or other property damage due to the collision. That evening, Pony.ai
Part 573 Safety Recall Report 22E-016 Page 3
The information contained in this report was submitted pursuant to 49 CFR §573
revised the relevant ADS code to correct the coding error and eliminate potential misdiagnosis of floating-point
number rounding errors.
November 5: A new binary with the corrected software code replaced binary _v2_20212009_RC38 as the live
version for future driverless testing.
February 24, 2022: NHTSA advised Pony.ai that it believed Pony.ai’s ADS had a safety defect and requested that
Pony.ai file a 49 CFR Part 573 defect report. Pony.ai ne with a street sign on the median. There were no injuries
or other property damage due to the collision. That evening, Pony.ai revised the relevant ADS code to correct
the coding error and eliminate potential misdiagnosis of floating-point number rounding errors.
Description of Remedy :
Description of Remedy Program : Pony.ai revised the relevant lines of code in the geolocation diagnostic
check to correctly interpret floating-point rounding errors. On November
5, 2022, Pony.ai completed a new binary with the corrected code, to be
used in future driverless testing.
How Remedy Component Differs
from Recalled Component :
The geolocation diagnostic code now correctly interprets floating-point
rounding errors.
Identify How/When Recall Condition
was Corrected in Production :
See chronology.
Recall Schedule :
Description of Recall Schedule : The remedy has already been completed throughout the potentially
affected software code population. That code is developed and used only
in Pony.ai’s ADS, which in turn is used exclusively in Pony.ai’s noncommercial,
privately owned, never-offered-for-sale, research and
development vehicles.
Pony.ai is the sole owner and possessor of the affected ADS and the
vehicles into which that ADS has been integrated. Pony.ai has not sold,
offered for sale, introduced or delivered for introduction to interstate
commerce the affected ADS. The ADS software has never been
transported beyond Pony.ai’s direct control. That ADS and Pony.ai’s
autonomous test vehicles are developed and tested entirely intra-state in
California.
Since Pony.ai, the sole owner of the affected ADS, is aware of the coding
Part 573 Safety Recall Report 22E-016 Page 4
The information contained in this report was submitted pursuant to 49 CFR §573
error, and remedied that error in October 2021, there are no other
owners to notify. Pony.ai has satisfied any owner notification obligations.
Planned Dealer Notification Date : NR – NR
Planned Owner Notification Date : NR – NR
Purchaser Information :
The following manufacturers purchased this defective/noncompliant equipment for possible use or
installation in new motor vehicles or new items of motor vehicle equipment:
Name : NR
Address : NR
NR
Country : NR
Company Phone : NR
* NR – Not Reported
**************************************************************************************************************
OMB Control No.: 2127-0004
Part 573 Safety Recall Report 22E-016
The information contained in this report was submitted pursuant to 49 CFR §573
Manufacturer Name : Pony.ai
Submission Date : MAR 03, 2022
NHTSA Recall No. : 22E-016
Manufacturer Recall No. : NR
Manufacturer Information :
Manufacturer Name : Pony.ai
Address : 3501 Gateway Blvd
Fremont CA 94538
Company phone : 9513840
Population :
Number of potentially involved : 3
Estimated percentage with defect : 100 %
Equipment Information :
Brand / Trade 1 : Pony.ai, Inc.
Model : Pony.ai ADS software release _v2_20210712_ and subsequent versions through
_v2_20210920_RC38_, and v2_20211004_
Part No. : _v2_20210712 et seq.
Size : NR
Function : NR
Descriptive Information : The subject population includes Pony.ai Automated Driving System (“ADS”) with
software release _v2_20210712 and subsequent versions
through_v2_20210920_RC38, and v2_20211004. At the time of the incident
described in the chronology, this totaled 3 ADS units. The recall population was
determined through a review of software release records.
Production Dates : JUL 09, 2021 – OCT 28, 2021
Description of Defect :
Description of the Defect : In a very rare combination of circumstances, one planning system diagnostic
check could generate a “false positive” indication of a geolocation mismatch.
FMVSS 1 : NR
FMVSS 2 : NR
Description of the Safety Risk : An ADS shutdown while the vehicle is moving could increase the risk of a
collision.
Description of the Cause : Former versions of certain ADS software included geolocation diagnostic
coding that in rare circumstances could incorrectly interpret small floatingpoint
number rounding errors (or “discrepancies”). As a result, it was possible
that one specific diagnostic matching function could incorrectly interpret an
inconsequential rounding discrepancy as a geolocation mismatch. During a
test run, a Pony.ai AV was running a geolocation diagnostic check when a very
Part 573 Safety Recall Report 22E-016 Page 2
The information contained in this report was submitted pursuant to 49 CFR §573
rare combination of factors and conditions generated a floating-point rounding
discrepancy that the diagnostic check misinterpreted as a location mismatch.
This error caused the diagnostic check to shut down the ADS. That shutdown
led to a single vehicle collision with a small street sign on the median and
related damage to the vehicle, but no other property damage and no injuries.
Identification of Any Warning
that can Occur :
NR
Involved Components :
Component Name : NR
Component Description : NR
Component Part Number : NR
Supplier Identification :
Component Manufacturer
Name : NR
Address : NR
NR
Country : NR
Chronology :
Pony.ai, Inc., founded in 2016, is an autonomous driving system (“ADS”) developer. It does not presently
manufacture for sale, sell, lease, or commercially use its ADS or vehicles equipped with an ADS. It purchases
FMVSS-compliant vehicles, installs its ADS and uses those ADS-equipped vehicles (AVs) solely for its own
research, development, and testing. Pony.ai’s ADS and AVs have not crossed state lines, and the AVs operate
entirely and exclusively within the State of California, pursuant to testing permits issued by the State of
California.
October 28, 2021: During an AV test run in Fremont, CA, a Pony.ai ADS geolocation diagnostic check
erroneously classified floating-point number rounding errors as a geolocation mismatch. There was no
location mismatch, but the diagnostic check misinterpreted operationally immaterial floating point number
rounding errors. This resulted in a “false positive” determination of a geolocation mismatch, which caused the
ADS to shut down.
Less than 2 ½ seconds after the ADS shutdown, the vehicle’s momentum caused it to collide with a street sign
on the median. There were no injuries or other property damage due to the collision. That evening, Pony.ai
Part 573 Safety Recall Report 22E-016 Page 3
The information contained in this report was submitted pursuant to 49 CFR §573
revised the relevant ADS code to correct the coding error and eliminate potential misdiagnosis of floating-point
number rounding errors.
October 29, 2021: The corrected software code was updated for all potentially affected ADS and vehicles.
February 24, 2022: NHTSA advised Pony.ai that it believed Pony.ai’s ADS had a safety defect and requested that
Pony.ai file a 49 CFR Part 573 defect report. Pony.ai now files this report.
Description of Remedy :
Description of Remedy Program : Pony.ai revised the relevant lines of code in the geolocation diagnostic
check to correctly interpret floating-point rounding errors. Pony.ai
completed this code revision on October 28, 2021 and updated the ADS
software of all potentially affected vehicles on October 29, 2021.
How Remedy Component Differs
from Recalled Component :
The geolocation diagnostic code now correctly interprets floating-point
rounding errors.
Identify How/When Recall Condition
was Corrected in Production :
See chronology.
Recall Schedule :
Description of Recall Schedule : The remedy has already been completed throughout the potentially
affected software code population. That code is developed and used only
in Pony.ai’s ADS, which in turn is used exclusively in Pony.ai’s noncommercial,
privately owned, never-offered-for-sale, research and
development vehicles.
Pony.ai is the sole owner and possessor of the affected ADS and the
vehicles into which that ADS has been integrated. Pony.ai has not sold,
offered for sale, introduced or delivered for introduction to interstate
commerce the affected ADS. The ADS software has never been
transported beyond Pony.ai’s direct control. That ADS and Pony.ai’s
autonomous test vehicles are developed and tested entirely intra-state in
California.
Since Pony.ai, the sole owner of the affected ADS, is aware of the coding
error, and remedied that error in October 2021, there are no other
owners to notify. Pony.ai has satisfied any owner notification obligations.
Planned Dealer Notification Date : NR – NR
Planned Owner Notification Date : NR – NR
Part 573 Safety Recall Report 22E-016 Page 4
The information contained in this report was submitted pursuant to 49 CFR §573
Purchaser Information :
The following manufacturers purchased this defective/noncompliant equipment for possible use or
installation in new motor vehicles or new items of motor vehicle equipment:
Name : NR
Address : NR
NR
Country : NR
Company Phone : NR
* NR – Not Reported
**************************************************************************************************************
SEOCONTENT-END
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