Intrusion-based collision avoidance

Certain aspects of the disclosure pertain intrusion-based collision avoidance. A bounding box can be generated to capture the size and position of an object in a traffic lane comprising a left lane line and a right lane line. A metric is computed based on one or more vertices of the bounding box that capture the extent to which the object intrudes on the lane. The vertices can be projected to the lane lines, and a distance computed between a vertex and a projection. Ratios can be determined for vertices based on distances that capture the positioning relative to lane width. The ratios can be analyzed and utilized as a basis for the metric. The metric can then be compared with at least one threshold. A collision avoidance response can be triggered if the metric satisfies the threshold.