Abstract: Techniques for accurately predicting vehicle state errors for avoiding collisions with objects detected in an environment of a vehicle are discussed herein. A vehicle safety system can implement a model determine a representation of the vehicle usable in a scenario. The model may dynamically determine a size and/or a heading of the vehicle representation based on differences between a candidate trajectory and a current trajectory of the vehicle. The safety system can identify a potential collision between the vehicle and the object based at least in part on an overlap of the vehicle representation and an object representation.

Abstract: Systems and techniques for determining a trajectory for use in controlling a vehicle are described. A trajectory determination system may generate a variety of trajectories for potential use in controlling a vehicle, including a maximum braking trajectory that enables the maximum application of the vehicle's brakes. A vehicle computing system may determine a distance between vehicle and an obstacle and stopping distances for the various trajectories and implement the maximum braking trajectory after determining that the distance to stop for that trajectory is the same as, but not substantially greater than, the distance between the vehicle and the obstacle.