Abstract: An autonomous vehicle safety system may activate to prevent collisions by detecting that a planned trajectory may result in a collision. If the safety system is overly sensitive, it may cause false positive activations, and if the system isn't sensitive enough the collision avoidance system may not activate and prevent a collision, which is unacceptable. It may be impossible or prohibitively difficult to detect false positive activations of a safety system and it is unacceptable to risk a false negative, so tuning the safety system is notoriously difficult. Tuning the safety system may include detecting near-miss events using surrogate metrics, and tuning the safety system to increase or decrease a rate of near-miss events as a stand-in for false positives.

Abstract: Techniques and methods for performing collision monitoring using error models. For instance, a vehicle may generate sensor data using one or more sensors. The vehicle may then analyze the sensor data using systems in order to determine parameters associated with the vehicle and parameters associated with another object. Additionally, the vehicle may process the parameters associated with the vehicle using error models associated with the systems in order to determine a distribution of estimated locations associated with the vehicle. The vehicle may also process the parameters associated with the object using the error models in order to determine a distribution of estimated locations associated with the object. Using the distributions of estimated locations, the vehicle may determine the probability of collision between the vehicle and the object.

Abstract: Techniques and methods for performing collision monitoring using system data. For instance, a vehicle may generate sensor data using one or more sensors. The vehicle may then analyze the sensor data using systems in order to determine parameters associated with the vehicle and parameters associated with another object. Additionally, the vehicle may determine uncertainties associated with the parameters and then process the parameters using the uncertainties. Based at least in part on the processing, the vehicle may determine a distribution of estimated locations associated with the vehicle and a distribution of estimated locations associated with the object. Using the distributions of estimated locations, the vehicle may determine the probability of collision between the vehicle and the object.

Abstract: Techniques and methods for training and/or using a machine learned model that identifies unsafe events. For instance, computing device(s) may receive input data, such as vehicle data generated by one or more vehicles and/or simulation data representing a simulated environment. The computing device(s) may then analyze features represented by the input data using one or more criteria in order to identify potential unsafe events represented by the input data. Additionally, the computing device(s) may receive ground truth data classifying the identified events as unsafe events or safe events. The computing device(s) may then train the machine learned model using at least the input data representing the unsafe events and the classifications. Next, when the computing device(s) and/or vehicles receive input data, the computing device(s) and/or vehicles may use the machine learned model to determine if the input data represents unsafe events.

Abstract: Techniques and methods for performing collision monitoring using error models. For instance, a vehicle may generate sensor data using one or more sensors. The vehicle may then analyze the sensor data using systems in order to determine parameters associated with the vehicle and parameters associated with another object. Additionally, the vehicle may process the parameters associated with the vehicle using error models associated with the systems in order to determine a distribution of estimated locations associated with the vehicle. The vehicle may also process the parameters associated with the object using the error models in order to determine a distribution of estimated locations associated with the object. Using the distributions of estimated locations, the vehicle may determine the probability of collision between the vehicle and the object.

Abstract: Techniques and methods for performing collision monitoring using system data. For instance, a vehicle may generate sensor data using one or more sensors. The vehicle may then analyze the sensor data using systems in order to determine parameters associated with the vehicle and parameters associated with another object. Additionally, the vehicle may determine uncertainties associated with the parameters and then process the parameters using the uncertainties. Based at least in part on the processing, the vehicle may determine a distribution of estimated locations associated with the vehicle and a distribution of estimated locations associated with the object. Using the distributions of estimated locations, the vehicle may determine the probability of collision between the vehicle and the object.