| CPC B60W 40/08 (2013.01) [B60W 60/001 (2020.02); B60W 2540/01 (2020.02)] | 30 Claims |
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1. A method comprising:
receiving, by a device and from a scanner associated with a vehicle, first point data associated with a first frame of an occupancy grid;
determining, by the device and based on the first point data, an occupancy probability of a first cell of the occupancy grid that is associated with the first point data and indicates that the first cell of the occupancy grid is occupied;
receiving, by the device and from the scanner, second point data associated with a second frame of the occupancy grid;
determining, by the device and based on the second point data, an occupancy probability of a second cell of the occupancy grid that is associated with the second point data and indicates that the second cell of the occupancy grid is occupied;
designating, by the device and based on the occupancy probability of the second cell being greater than a permanence threshold, the second cell as occupied for a remaining duration of a session associated with the scanner,
wherein the second cell is not within a field of view of the scanner during the remaining duration of the session;
determining, by the device and based on a grid location of the first cell and the second cell within the occupancy grid, that the second cell is between the first cell and a grid location of the scanner within the occupancy grid;
reducing, by the device, the occupancy probability of other cells of the occupancy grid, the other cells being different from the second cell, while preventing the occupancy probability of the first cell from being reduced for at least a duration of the second frame; and
performing, by the device, an action associated with controlling an operation of the vehicle based at least in part on the occupancy grid.
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