CPC B60W 50/045 (2013.01) [G01S 13/931 (2013.01); G01S 17/931 (2020.01); B60W 2420/42 (2013.01); B60W 2420/52 (2013.01); G01S 7/4039 (2021.05); G01S 2007/4975 (2013.01); G01S 2013/9327 (2020.01)] | 10 Claims |
1. A method for determining a blockage of a sensor of a plurality of sensors of an ego vehicle, the method comprising:
determining a prior blockage probability of the sensor, wherein the prior blockage probability is a probability that a field of view of the sensor is limited due to environmental effects;
receiving sensor data of the sensor;
determining a performance of the sensor based on the received sensor data;
calculating a posterior blockage probability based on the prior blockage probability of the sensor and the performance of the sensor; and
determining the blockage of the sensor using the calculated posterior blockage probability,
wherein determining the prior blockage probability of the sensor comprises:
determining a first blockage probability of the sensor based on a relative change of a motion of an object detected by the sensor, wherein the object is on a road within the field of view of the sensor;
determining a second blockage probability of the sensor using a predefined performance of the sensor regarding a current weather condition; and
calculating the prior blockage probability of the sensor based on the first blockage probability and the second blockage probability.
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