| CPC B60W 30/09 (2013.01) [B60W 30/0956 (2013.01); G01S 17/04 (2020.01); G01S 17/931 (2020.01); B60W 2420/403 (2013.01); B60W 2420/408 (2024.01); B60W 2554/00 (2020.02)] | 20 Claims |
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1. A system comprising:
one or more processors; and
one or more computer-readable media storing instructions that, when executed by the one or more processors, cause the system to perform operations comprising:
determining a first area and a second area within an environment;
determining a type of the environment associated with the first area;
determining, at a first position of a vehicle in the environment, and based at least in part on the type of the environment, a hypothesis indicating:
a first direction relative to a first side of the vehicle where a first object is located in the first area, and
a first distance of the first object from the vehicle along the first direction, wherein the first area is unobstructed relative to one or more sensors of the vehicle;
receiving sensor data from the one or more sensors of the vehicle, where the sensor data is captured at the first position of the vehicle, and includes at least one sensor emission reflecting from a surface at the second area;
determining that the surface reflecting the at least one sensor emission is at a second distance from the vehicle and along the first direction;
determining, based at least in part on the second distance being greater than the first distance, that the hypothesis is inaccurate;
generating, based at least in part on determining that the hypothesis is inaccurate, an occupancy heatmap indicating that the first area is unoccupied; and
controlling the vehicle based at least in part on the occupancy heatmap.
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