BACKGROUND

Vehicles may be equipped with collision avoidance systems used to detect objects in an environment and control the vehicle to avoid the objects. Collision avoidance systems may detect both stationary objects such as parked vehicles and road obstructions, and moving objects such as other vehicles, cyclists, pedestrians, and animals. For example, some collision avoidance systems operate by detecting and identifying the presence of a surface in the environment representing an object in the path of the vehicle, and then engaging the braking and/or steering systems of the vehicle to avoid colliding with the surface.

