In order to navigate safely, it is important to detect and to react to a potentially dangerous situation. Such a situation can be underlined by a judicious use of the locations and the uncertainties of both the navigating vehicle and the obstacles. We propose to build an estimation of the collision probability from the environment perception with its probabilistic modeling. The probability of collision is computed from a sum of integral of a product of Gaussians. The integrals takes into account the uncertain configurations and the volume of both the vehicle and the obstacles.
