A method comprising: determining whether a target is within an in-path band for a predicted path of a host vehicle, the in-path band being centered on the predicted path and regressive in width along the predicted path away from the host vehicle; and responsive to determining that the target is within the in-path band: determining a yaw rate threshold for the host vehicle, the yaw rate threshold being usable to determine how to determine a host lateral movement of the host vehicle; determining the host lateral movement based on whether a yaw rate of the host vehicle meets the yaw rate threshold; determining, based on the host lateral movement and the in-path band, whether the host vehicle is likely to be within the in-path band at a future time; determining a lateral velocity threshold for the target, the lateral velocity threshold being usable to determine how to determine a target lateral movement of the target; determining the target lateral movement based on whether a lateral velocity of the target meets the lateral velocity threshold; determining, based on the target lateral movement and the in-path band, whether the target is likely to be within the in-path band at the future time; and responsive to determining that the host vehicle and the target are likely to be within the in-path band at the future time, generating a collision indication that causes the host vehicle to perform an action. determining whether a target is within an in-path band for a predicted path of a host vehicle, the in-path band being centered on the predicted path and regressive in width along the predicted path away from the host vehicle; and responsive to determining that the target is within the in-path band: determining a yaw rate threshold for the host vehicle, the yaw rate threshold being usable to determine how to determine a host lateral movement of the host vehicle; determining the host lateral movement based on whether a yaw rate of the host vehicle meets the yaw rate threshold; determining, based on the host lateral movement and the in-path band, whether the host vehicle is likely to be within the in-path band at a future time; determining a lateral velocity threshold for the target, the lateral velocity threshold being usable to determine how to determine a target lateral movement of the target; determining the target lateral movement based on whether a lateral velocity of the target meets the lateral velocity threshold; determining, based on the target lateral movement and the in-path band, whether the target is likely to be within the in-path band at the future time; and responsive to determining that the host vehicle and the target are likely to be within the in-path band at the future time, generating a collision indication that causes the host vehicle to perform an action. determining a yaw rate threshold for the host vehicle, the yaw rate threshold being usable to determine how to determine a host lateral movement of the host vehicle; determining the host lateral movement based on whether a yaw rate of the host vehicle meets the yaw rate threshold; determining, based on the host lateral movement and the in-path band, whether the host vehicle is likely to be within the in-path band at a future time; determining a lateral velocity threshold for the target, the lateral velocity threshold being usable to determine how to determine a target lateral movement of the target; determining the target lateral movement based on whether a lateral velocity of the target meets the lateral velocity threshold; determining, based on the target lateral movement and the in-path band, whether the target is likely to be within the in-path band at the future time; and responsive to determining that the host vehicle and the target are likely to be within the in-path band at the future time, generating a collision indication that causes the host vehicle to perform an action.