Methods and systems for collision control of moving vehicles surrounded by vehicles

Abstract

Embodiments of methods and systems include determining a driving maneuver to be performed by an ego vehicle based on a road geometry and a lane geometry, the ego vehicle surrounded by one or more surrounding vehicles, retrieving a trajectory model corresponding to the driving maneuver, encoding kinematic data of the surrounding vehicles relative to the ego vehicle to generate spatial relationships between the surrounding vehicles and the ego vehicle, predicting future trajectories of the surrounding vehicles based on the spatial relationships, the kinematic data, the road geometry, and the lane geometry, generating a collision coefficient based on the future trajectories and the driving maneuver, and when the collision coefficient is greater than a predetermined threshold value, determining an escape route for the ego vehicle, and causing the ego vehicle to autonomously operate based on the escape route.