| CPC B60W 60/00272 (2020.02) [G06N 20/00 (2019.01); G06V 10/449 (2022.01); B60W 2420/408 (2024.01); B60W 2554/4041 (2020.02); B60W 2554/80 (2020.02)] | 20 Claims |
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1. One or more non-transitory computer-readable media storing instructions executable by one or more processors, wherein the instructions, when executed, cause the one or more processors to perform operations comprising:
receiving sensor data from a sensor associated with a vehicle;
inputting the sensor data to a model;
receiving, from the model, an occupancy prediction associated with an object at a future time in an environment of the vehicle;
applying a filter to the occupancy prediction to generate a modified occupancy prediction associated with the object;
normalizing the occupancy prediction based at least in part on the modified occupancy prediction to determine a normalized occupancy prediction, wherein normalizing the occupancy prediction comprises:
identifying a first value of a first pixel associated with the occupancy prediction;
identifying a second value of a second pixel associated with the modified occupancy prediction;
comparing, as a comparison, the first value and the second value; and
outputting the normalized occupancy prediction based at least in part on the comparison;
determining, based at least in part on the normalized occupancy prediction, an intersection probability between the object and the vehicle; and
controlling the vehicle in the environment based at least in part on the intersection probability, wherein controlling the vehicle comprises performing at least one of a braking action to cause the vehicle to brake, a steering action to cause the vehicle to steer, or an acceleration action to cause the vehicle to accelerate.
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