An autonomous-capable vehicle comprising: multiple sensors (135, 140, 145, 150) including a camera for capturing image frames in a forward direction of the autonomous-capable vehicle; a vehicle control system to control the autonomous-capable vehicle, the vehicle control system being configured, in an autonomous mode of the vehicle, to (i) receive sensor input from the multiple sensors (135, 140, 145, 150), and (ii) generate, based on the sensor input, vehicle control signals; a collision-avoidance system, operating independently of the vehicle control system, being configured to perform steps including: receiving an image frame from the camera; performing image analysis on the received image frame to label regions of the image frame either as depicting drivable space or as depicting non-drivable space; determining, based at least in part on vehicle data, that the autonomous-capable vehicle is likely to impact a region of non-drivable space depicted in the received image frame; and upon determining that the autonomous-capable vehicle is likely to impact a region of non-drivable space depicted in the received image frame, generating a collision-avoidance signal, wherein the collision-avoidance signal causes the autonomous-capable vehicle to avoid impacting the region of non-drivable space; wherein the collision-avoidance signal overrides the vehicle control signals generated by the vehicle control system. multiple sensors (135, 140, 145, 150) including a camera for capturing image frames in a forward direction of the autonomous-capable vehicle; a vehicle control system to control the autonomous-capable vehicle, the vehicle control system being configured, in an autonomous mode of the vehicle, to (i) receive sensor input from the multiple sensors (135, 140, 145, 150), and (ii) generate, based on the sensor input, vehicle control signals; a collision-avoidance system, operating independently of the vehicle control system, being configured to perform steps including: receiving an image frame from the camera; performing image analysis on the received image frame to label regions of the image frame either as depicting drivable space or as depicting non-drivable space; determining, based at least in part on vehicle data, that the autonomous-capable vehicle is likely to impact a region of non-drivable space depicted in the received image frame; and upon determining that the autonomous-capable vehicle is likely to impact a region of non-drivable space depicted in the received image frame, generating a collision-avoidance signal, wherein the collision-avoidance signal causes the autonomous-capable vehicle to avoid impacting the region of non-drivable space; receiving an image frame from the camera; performing image analysis on the received image frame to label regions of the image frame either as depicting drivable space or as depicting non-drivable space; determining, based at least in part on vehicle data, that the autonomous-capable vehicle is likely to impact a region of non-drivable space depicted in the received image frame; and upon determining that the autonomous-capable vehicle is likely to impact a region of non-drivable space depicted in the received image frame, generating a collision-avoidance signal, wherein the collision-avoidance signal causes the autonomous-capable vehicle to avoid impacting the region of non-drivable space; wherein the collision-avoidance signal overrides the vehicle control signals generated by the vehicle control system.