An autonomous-capable vehicle comprising: multiple sensors 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 , 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 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 , 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. <EOS>