How about
All objects are types of Initial Object.
So, capture the info about initial object - movement etc - and while you try and make up your mind about what it is / threat level etc you can at least react to it if it looks like collision is possible. At least that way you always have the fill data for the system to play with.
But me, I think real life, safe, autonomous cars are ten years away, and will be for some time to come. (Maybe "sleep while it takes you up the motorway in formation" could be ready sooner, but "urban", long way off).
Biting the hand that feeds IT
