> For the complete documentation index, see [llms.txt](https://carec.gitbook.io/carec-docs/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://carec.gitbook.io/carec-docs/documentation/autonomous-mobility/perception-and-collision-avoidance.md). # Perception and Collision Avoidance The full CAREC perception layer must support manual safety assistance and autonomous navigation. ## Required outputs * Obstacles and traversable free space * People and dynamic motion * Doorways and clearance * Stairs, curbs, and drop-offs * Surface or slope hazards when available * Range or time-to-collision estimate * Confidence, uncertainty, timestamp, and sensor health * Explicit unknown or degraded state The collision response must consider speed, deceleration, latency, uncertainty, obstacle motion, chair footprint, surface, slope, and active mode—not only distance. A layered response may warn, limit speed, stop, replan, request takeover, or enter a safe state. Every intervention needs a reason code and testable acceptance criteria. The previous SenseCAP work explored front-camera detection and green/yellow/red alerts. It remains one experiment and does not replace the complete perception, navigation, or drive-safety architecture. --- # Agent Instructions This documentation is published with GitBook. GitBook is the documentation platform designed so that both humans and AI agents can read, navigate, and reason over technical content effectively. Learn more at gitbook.com. ## Querying This Documentation If you need additional information that is not directly available in this page, you can query the documentation dynamically by asking a question. Perform an HTTP GET request on the current page URL with the `ask` query parameter, and the optional `goal` query parameter: ``` GET https://carec.gitbook.io/carec-docs/documentation/autonomous-mobility/perception-and-collision-avoidance.md?ask=&goal= ``` `ask` is the immediate question: it should be specific, self-contained, and written in natural language. `goal` is optional and describes the broader end goal you are ultimately trying to accomplish on behalf of the user. GitBook uses it to tailor the answer towards what is most useful for that goal. The response will contain a direct answer to the question and relevant excerpts and sources from the documentation. Use this mechanism when the answer is not explicitly present in the current page, you need clarification or additional context, or you want to retrieve related documentation sections.