The Safety Force Field module takes surrounding perception of
The ego-vehicle and the obstacles are actors. The module then predicts whether a collision is likely to happen between an actor and the ego-vehicle, after all actors have executed their safety procedures.
A Safety Force Field is computed for each predicted collision between an actor and the ego-vehicle. These Safety Force Fields generate control constraints for actuation. If the current ego-vehicle control violates a control constraint, it is corrected to a safe control.