| CPC B60W 30/0956 (2013.01) [B60W 30/09 (2013.01); B60W 30/0953 (2013.01); B60W 60/0015 (2020.02); B60W 2554/4041 (2020.02); B60W 2554/4042 (2020.02); B60W 2554/4046 (2020.02); B60W 2554/80 (2020.02)] | 20 Claims |
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1. A system comprising:
one or more processors; and
one or more non-transitory computer-readable media storing instructions executable by the one or more processors, wherein the instructions, when executed, cause the system to perform operations comprising:
receiving a vehicle trajectory;
determining a plurality of object states relative to a vehicle, the plurality of object states comprising an object position, an object heading, and an object speed;
determining, based at least in part on the vehicle trajectory and the plurality of object states, a first region and a second region in an environment;
initiating, based at least in part on determining the first region and the second region, a simulation comprising an object having a simulated object state associated with the object state in the second region, the simulation exclusive of the first region; and
determining, based at least in part on the simulation, a response to the simulated object state by a secondary system,
wherein the first region comprises a region in which the vehicle is unable to avoid a collision and the second region comprises a region in which a probability of collision is greater than or equal to a threshold probability.
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