PREDICTING THIRD-PARTY COLLISIONS FOR AUTONOMOUS VEHICLES

The described aspects and implementations enable reduced use in computational resources by an autonomous vehicle (AV) by predicting third-party collisions for an AV. A method includes obtaining object indications for objects in a driving environment of an AV. An object indication may include a shape definition and one or more predicted future locations of a corresponding object. The method includes projecting each shape definition onto each predicted future location of the one or more predicted future locations of the corresponding object. The method includes determining, based on projected shape definitions of the objects, that the projected shape definitions of at least two objects overlap. The method includes, responsive to the overlap between at least one of the projected shape definitions meeting a collision criterion, modifying the operation of the AV to avoid an area of the overlapped projected shape definitions of the least two objects.