Safety system for vehicle

One or more non-transitory storage media storing instructions which, when executed by one or more computing devices, cause the one or more computing devices to:

• receive sensor data representing one or more objects located in an environment in which a vehicle is operating, the vehicle operated by a navigation system of the vehicle independent of the one or more computing devices;
• generate a probabilistic model of the environment, the generating of the probabilistic model comprising:
• for each object of the one or more objects, generating a state of the object based on recursive Bayesian filtering of the sensor data, the state comprising a spatiotemporal location of the object relative to the vehicle at a particular time and a velocity of the object relative to the vehicle at the particular time;
• determine whether a probability of collision of the vehicle with a particular object of the one or more objects at the particular time based on the probabilistic model of the environment is greater than zero;
• generate a collision warning indicating the particular object and the particular time;
• and
• transmit an emergency braking command to a control circuit of the navigation system responsive to receiving the collision warning, the control circuit configured to perform an emergency braking operation to avoid a collision of the vehicle with the particular object responsive to receiving the emergency braking command.

A method comprising:

• receiving, by a safety system of a vehicle, sensor data representing one or more objects located in an environment in which the vehicle is operating, the vehicle operated by a navigation system of the vehicle independent of the safety system;
• generating, by the safety system, a probabilistic model of the environment, the generating of the probabilistic model comprising:
• for each object of the one or more objects, generating, by the safety system, a state of the object based on recursive Bayesian filtering of the sensor data, the state comprising a spatiotemporal location of the object relative to the vehicle at a particular time and a velocity of the object relative to the vehicle at the particular time;
• determining, by the safety system, whether a probability of collision of the vehicle with a particular object of the one or more objects at the particular time based on the probabilistic model of the environment is greater than zero;
• generating, by the safety system, a collision warning indicating the particular object and the particular time;
• and
• transmitting an emergency braking command to a control circuit of the navigation system responsive to receiving the collision warning, the control circuit configured to perform an emergency braking operation to avoid a collision of the vehicle with the particular object responsive to receiving the emergency braking command.