Methods and systems for autonomous vehicle collision avoidance

A system, comprising:

• an electronic device;
• and
• a computer-readable storage medium comprising one or more programming instructions that, when executed, cause the electronic device to:
• identify an object that is invading a lane that an autonomous vehicle is occupying, generate a constraint about a point of crossing, wherein the constraint comprises a
• direction and a length, and wherein the point of crossing represents a location of where the object and the autonomous vehicle will collide if the object maintains its current trajectory and the autonomous vehicle maintains its current trajectory,
• apply the constraint to a motion plan associated with the autonomous vehicle, and issue one or more commands to adjust movement of the autonomous vehicle in response to encountering the constraint,
• wherein to generate the constraint about the point of crossing, the one or more programming instructions further cause the electronic device to select a higher of a minimum distance or a product value as a constraint length, wherein the minimum distance represents a distance before the point of crossing, and wherein the product value represents a product of a minimum amount of time before the point of crossing and a current speed of the autonomous vehicle.

A computer program product comprising a memory and programming instructions that are configured to cause a processor to:

• identify an object that is invading a lane that the autonomous vehicle is occupying;
• generate a constraint about a point of crossing, wherein the constraint comprises a direction and a length, and wherein the point of crossing represents a location of where the object and the autonomous vehicle will collide if the object maintains its current trajectory and the autonomous vehicle maintains its current trajectory;
• apply the constraint to a motion plan associated with the autonomous vehicle, and
• issue one or more commands to adjust movement of the autonomous vehicle in response to encountering the constraint.