Abstract: A method includes obtaining sensor data associated with a target object at a host vehicle and generating at least one first polynomial associated with the host vehicle. Each first polynomial is a representation of an estimated behavior of the host vehicle. The method also includes identifying relative positions of the target object over time and generating at least one second polynomial associated with the target object based on the relative positions. Coefficients of each second polynomial are based on a magnitude of a covariance of the relative positions used to generate the second polynomial. Each second polynomial is a representation of an estimated behavior of the target object. The method further includes determining whether a collision between the host vehicle and the target object is possible based on the first and second polynomials and, in response to determining that the collision is possible, initiating one or more corrective actions.

Abstract: A method includes obtaining sensor data associated with a target object at a host vehicle and identifying relative positions of the target object with reference to the host vehicle over time. The method also includes generating polynomials associated with the target object over time based on the relative positions, where coefficients of each polynomial are based on a magnitude of a covariance of the relative positions used to generate the polynomial. The method further includes generating a weighted combination of the polynomials for the target object, where the weighted combination is a representation of an estimated behavior of the target object. In addition, the method includes determining whether a collision between the host vehicle and the target object is possible based on the weighted combination of the polynomials and, in response to determining that the collision is possible, initiating one or more corrective actions by the host vehicle.

Abstract: A method includes obtaining sensor data associated with a target object at a host vehicle and identifying relative positions of the target object with reference to the host vehicle over time. The method also includes generating polynomials associated with the target object over time based on the relative positions, where coefficients of each polynomial are based on a magnitude of a covariance of the relative positions used to generate the polynomial. The method further includes generating a weighted combination of the polynomials for the target object, where the weighted combination is a representation of an estimated behavior of the target object. In addition, the method includes determining whether a collision between the host vehicle and the target object is possible based on the weighted combination of the polynomials and, in response to determining that the collision is possible, initiating one or more corrective actions by the host vehicle.

Abstract: A method includes obtaining sensor data associated with a target object at a host vehicle and generating at least one first polynomial associated with the host vehicle. Each first polynomial is a representation of an estimated behavior of the host vehicle. The method also includes identifying relative positions of the target object over time and generating at least one second polynomial associated with the target object based on the relative positions. Coefficients of each second polynomial are based on a magnitude of a covariance of the relative positions used to generate the second polynomial. Each second polynomial is a representation of an estimated behavior of the target object. The method further includes determining whether a collision between the host vehicle and the target object is possible based on the first and second polynomials and, in response to determining that the collision is possible, initiating one or more corrective actions.