Safety system, automated driving system, and methods thereof

A safety system for use with a vehicle, the safety system comprising:

• one or more processors configured to:
• receive vehicle position data indicating a position of the vehicle,
• determine a first lane segment in a lane coordinate system based on the vehicle position data, the first lane segment being a lane segment in which the vehicle is located, wherein the lane coordinate system is a lane-based coordinate system, in which each road is described by a plurality of lane segments laterally to the vehicle and a plurality of lane segments longitudinally to the vehicle,
• determine a relevant set of lane segments of the lane coordinate system for the vehicle based on a safety-range from the first lane segment,
• determine or receive obstacle position data indicating a second lane segment in the lane coordinate system, the second lane segment being a lane segment in which an obstacle is located, and
• classify the obstacle either as a non-relevant obstacle in the case that the second lane segment is not included in the relevant set of lane segments for the vehicle, or as a relevant obstacle in the case that the second lane segment is included in the relevant set of lane segments for the vehicle;
• determine a potential collision event between the vehicle and the relevant obstacle,
• discard the obstacle from the determination of the potential collision event in the event the obstacle is classified as the non-relevant obstacle;
• determine whether a safety operation can avoid the potential collision, and
• instruct the safety operation to a control system of the vehicle in the case that the safety operation is determined to avoid the potential collision.