Collision imminent detection

A vehicle comprising:

• a primary control system to compute a first path for the vehicle based at least in part on first sensor data;
• and
• a fallback control system to
• monitor, based at least in part on second sensor data, for an imminent collision between the vehicle and an object in an environment outside of the vehicle, wherein the monitoring comprises determining at least one of a first perception or a first prediction independent of the primary control system;
• and
• determine, based on the monitoring, that the imminent collision is detected.

One or more non-transitory, computer-readable media encoded with instructions that, when executed by one or more processing units of a vehicle, perform a method comprising:

• receiving path information associated with a path for the vehicle, the path based on at least one of a first perception or a first prediction;
• collecting sensor data generated by one or more sensors of the vehicle;
• detecting, based on the sensor data and the received path information, an imminent collision between the vehicle and an object in an environment of the vehicle using at least one of a second perception different from the first perception or a second prediction different from the first prediction;
• and
• transmitting an indication of the detected imminent collision.