System and method for detecting airborne objects

A method implemented by a computing system including one or more processors and storage media storing machine-readable instructions, wherein the method is performed using the one or more processors, the method comprising:

• detecting an airborne object within a detection radius of a vehicle;
• in response to detecting the airborne object, tracking the airborne object to obtain 3-D coordinate information of the airborne object at distinct times;
• determining a probability that the airborne object will collide with one or more sensors based on the 3-D coordinate information;
• determining a driving action of the vehicle based on the determined probability, the determining the driving action comprising:
• if the probability is less than a first threshold, determining the driving action to be maintaining a same navigation route;
• if the probability is between the first threshold and a second threshold higher than the first threshold, determining the driving action to be swerving or changing lanes to move away from a predicted position of the airborne object;
• if the probability is between the second threshold and a third threshold higher than the second threshold, determining the driving action to be stopping the vehicle;
• and
• if the probability is between the third threshold and a fourth threshold higher than the third threshold, determining the driving action to be changing the navigation route;
• and
• performing the driving action.

A non-transitory computer-readable storage medium including instructions that, when executed by at least one processor of a computing system, cause the computing system to perform a method comprising:

• detecting an airborne object within a detection radius of a vehicle;
• in response to detecting the airborne object, tracking the airborne object to obtain 3-D coordinate information of the airborne object at distinct times;
• determining a probability that the airborne object will collide with one or more sensors based on the 3-D coordinate information;
• determining a driving action of the vehicle based on the determined probability, the determining the driving action comprising:
• if the probability is less than a first threshold, determining the driving action to be maintaining a same navigation route;
• if the probability is between the first threshold and a second threshold higher than the first threshold, determining the driving action to be swerving or changing lanes to move away from a predicted position of the airborne object;
• if the probability is between the second threshold and a third threshold higher than the second threshold, determining the driving action to be stopping the vehicle;
• and
• performing the driving action.