Imminent-collision detection system and process

A process of determining an imminent-collision between a vehicle (401) and an object, said vehicle having a sensing system for obtaining one or more images representing at least one observed object (402) within a field of detection, said process comprising: (a) obtaining one or more images representing an observed object (402) within said field of detection; and (b) determining that a collision between said vehicle (401) and said observed object (402) is imminent when the ratio of the probability that said observed object (402) is actually within a collision zone (403) to the probability that said observed object (402) is actually within a safe zone (406,407) is greater than a certain value.