1. A process of determining an imminent-collision between a vehicle and an object, said vehicle having a sensing system for obtaining one or more images representing at least one observed object within a field of detection, said process comprising: (a) obtaining one or more images representing an observed object within said field of detection; and (b) before determining target parameters of said observed object, determining the likelihood that a collision between said vehicle and said observed object is imminent based upon one or more probability density distributions.