The robot has two behaviors in the course of planning: moving to the goal and collision avoidance, and the collision avoidance behavior has the higher priority.

在规划过程中，机器人有两种行为：向目标运动和避碰，且避碰行为具有优先权。

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But in recent years, interest shifted to collision avoidance, hence the focus on driver behavior, the primary cause of most crashes, Dr. Campbell said.

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