Interference Detection Architecture for Autonomous Vehicles

Systems and methods to determine a potential interference between an object and an autonomous vehicle are disclosed. The method can include obtaining object-track data and autonomous vehicle-track data and determining that at least a portion of the track of the object overlaps with the track of the autonomous vehicle. The method can include determining that a threshold quantity of first sensor data points associated with the track of the object is at least partially within a threshold distance of the track of the autonomous vehicle. The method can include determining that the first sensor data points have a threshold closing velocity relative to the autonomous vehicle. The method can include determining an occurrence of a potential interference between the object and the autonomous vehicle for the first timeframe, based on determining that the first sensor data points have a threshold closing velocity relative to the autonomous vehicle.