Abstract: Described are systems and methods for predicting road collisions between a host vehicle and one or more objects in the surroundings of the vehicle. In aspects, range rate and heading information is acquired regarding a moving object in the surroundings of the vehicle; possible vehicle trajectories of the vehicle are calculated; possible object trajectories are calculated from the range rate of the object, the heading of the object, and a possible turn and acceleration of the object; and a collision calculation is performed.

Abstract: Systems and techniques are described for detecting a lane departure event. In aspects, a method includes obtaining a lateral acceleration value of the vehicle, determining a time-to-lane boundary (TTLB) threshold value using a saturated linear function of the lateral acceleration value of the vehicle, determining a current TTLB value of the vehicle with respect to a lane boundary, comparing the current TTLB value to the TTLB threshold value, and outputting a signal indicative of vehicle proximity to the lane boundary if the current TTLB value satisfies a triggering condition with respect to the TTLB threshold value.

Abstract: Methods and systems for scheduling a trajectory of a vehicle are provided. Kinematic parameters of the vehicle are detected by using at least one vehicle state sensor, and environmental parameters of the vehicle are detected by using at least one environment sensor. A curvature rate and a longitudinal jerk are estimated based on respective cost functions depending from the kinematic parameters and the environmental parameters of the vehicle. A scheduled trajectory of the vehicle is estimated based on the curvature rate and the longitudinal jerk.

Abstract: Described are systems and methods for predicting road collisions between a host vehicle and one or more objects in the surroundings of the vehicle. In aspects, range rate and heading information is acquired regarding a moving object in the surroundings of the vehicle; possible vehicle trajectories of the vehicle are calculated; possible object trajectories are calculated from the range rate of the object, the heading of the object, and a possible turn and acceleration of the object; and a collision calculation is performed.