Extension to safety protocols for autonomous vehicle operation

At least one non-transitory machine-readable storage medium comprising instructions stored thereupon, which when executed by a processor of a driver assist navigation system of a host vehicle, cause the processor to perform operations comprising:

• obtaining sensing data of an environment in a vicinity of the host vehicle, the sensing data captured from at least one sensor device of the host vehicle;
• determining a planned navigational action associated with operation of the host vehicle on a roadway;
• identifying, from the sensing data, a second vehicle in the environment of the host vehicle, the second vehicle identified as an oncoming vehicle on the roadway;
• identifying, from the sensing data, a position of the oncoming vehicle on the roadway, the oncoming vehicle operating in an incorrect lane of the roadway;
• calculating, based on the position of the oncoming vehicle on the roadway, a longitudinal distance and a lateral distance between the host vehicle and the oncoming vehicle for the planned navigational action;
• determine whether the calculated longitudinal distance between vehicles for the planned navigational action is less than a minimum safe longitudinal distance and the calculated lateral distance between vehicles for the planned navigational action is less than a minimum safe lateral distance based on:
• a forward acceleration of the host vehicle and a forward acceleration of the oncoming vehicle during a predicted response time in which the host vehicle and the oncoming vehicle are predicted to initiate braking, and
• a braking acceleration of the host vehicle and a braking acceleration of the oncoming vehicle during a predicted braking time in which the host, vehicle and the oncoming vehicle are predicted to apply the braking, wherein the predicted braking time follows the predicted response time;
• identifying a dangerous situation of the planned navigational action, based on determining that the calculated longitudinal distance between vehicles being is less than the minimum sake longitudinal distance and the calculated lateral distance between vehicles is less than all the minimum safe lateral distance:
• and
• causing an evasive maneuver of the host vehicle to avoid a collision, in response to the identification of the dangerous situation, the evasive maneuver including deceleration of the host vehicle and a change in a lateral position on the roadway.