Enhanced object detection and response

A method, comprising:

• identifying a turning center for a vehicle defined by a turning radius of the vehicle and a heading angle of the vehicle;
• identifying a boundary circle having a center defined by the turning center and a radius extending to a location of a detected object;
• identifying coordinates for each of a plurality of vertices of an external contour of the vehicle, the external contour defining a plurality of line segments, each line segment connecting two of the vertices;
• determining whether the boundary circle intersects each line segment;
• upon identifying at least one line segment that intersects the boundary circle, identifying at least one of an object distance or an intersection time between the object and the vehicle;
• and
• actuating at least one of a steering or a brake to avoid the object when the object distance is below a distance threshold or the intersection time is below a time threshold.

A system, comprising:

• a vehicle including a steering and a brake;
• means for identifying a turning center for the vehicle defined by a turning radius of the vehicle and a heading angle of the vehicle;
• means for identifying a boundary circle having a center defined by the turning center and a radius extending to a location of a detected object;
• means for identifying coordinates for each of a plurality of vertices of an external contour of the vehicle, the external contour defining a plurality of line segments, each line segment connecting two of the vertices;
• means for determining whether the boundary circle intersects each line segment;
• means for identifying at least one of an object distance or an intersection time between the object and the vehicle upon identifying at least one line segment that intersects the boundary circle;
• and
• means for actuating at least one of the steering or the brake to avoid the object when the object distance is below a distance threshold or the intersection time is below a time threshold.