System and Method for Predicting Road Collisions with a Host Vehicle

Described are systems and methods for predicting road collisions between a host vehicle and one or more objects in the surroundings of the vehicle. In aspects, range rate and heading information is acquired regarding a moving object in the surroundings of the vehicle; possible vehicle trajectories of the vehicle are calculated; possible object trajectories are calculated from the range rate of the object, the heading of the object, and a possible turn and acceleration of the object; and a collision calculation is performed.