US Patent 9610945 Collision mitigation and avoidance

An intersection of a host vehicle and a target vehicle is identified. Data relating to the target vehicle are collected. A map of a surrounding environment is developed. A driver intent probability is determined based at least in part on the map. A threat estimation is determined based at least in part on the driver intent probability. At least one of a plurality of safety systems is activated based at least in part on the threat estimation.