Patent ID: 11912293
Assignee: BAYERISCHE MOTOREN WERKE AKTIENGESELLSCHAFT
Field: Measurement (Instruments)
Classification: CPC B  G | IPC B  G

Claim 7:
8. A system for determining a blockage of a sensor of a plurality of sensors of an ego vehicle, the system comprising:
a processor;
a memory;
instructions stored within the memory, wherein the instructions, when executed on the processor, cause the system to:
determine 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;
receive sensor data of the sensor;
determine a performance of the sensor based on the received sensor data;
calculate a posterior blockage probability based on the prior blockage probability of the sensor and the performance of the sensor; and
determine 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.