US Patent 10377376 Vehicle with environmental context analysis

A host vehicle may include: motor(s), brakes, sensors, processor(s) configured to: (a) predict a target path of a target vehicle based on lane boundaries of a virtual map; (b) compare the target path to a predicted host path of the host vehicle; (c) apply the brakes based on the comparison; (d) predict the target path and the host path as shapes, each having a two-dimensional surface area; (e) determine whether the shapes intersect, and based on the determination, (f) calculate a first timespan where the target vehicle reaches the intersection, and (g) a second timespan where the host vehicle reaches the intersection.