The Collision Avoidance System (CAS) is responsible for detecting and reacting to imminent collision situations in support of our vehicle’s overall safety goals. CAS Perception is responsible for processing raw sensor data from our vehicle’s world-class sensor suite using a combination of geometric, interpretable algorithms and deep learning to detect near-collisions with obstacles along our intended driving path, in the most challenging dense urban environments and under tight compute resource constraints. Overall CAS is parallel and complementary to our Main Artificial Intelligence (AI) autonomy stack, and has a close relationship with our vehicle hardware and safety teams in order to architect redundancy into our overall driving system.