VEHICLE COLLISION AVOIDANCE BASED ON PERTURBED OBJECT TRAJECTORIES

摘要

A vehicle safety system within an autonomous or semi-autonomous vehicle may predict and avoid collisions between the vehicle and other moving objects in the environment. The vehicle safety system may determine one or more perturbed trajectories for another object in the environment, for example, by perturbing the state parameters of a perceived trajectory associated with the object. Each perturbed trajectory may be evaluated to determine whether it intersects or potentially collides the planned trajectory of the vehicle. In some examples, the vehicle safety system may aggregate the results of analyses of multiple perturbed trajectories to determine a collision probability and/or additional weights or adjustment factors associated with the collision prediction, and may determine actions for the vehicle to take based on the collision predictions and probabilities.