Patent ID: 11919525
Assignee: AUTONOMOUS SOLUTIONS, INC.
Field: Computer technology (Electrical engineering)
Classification: CPC G  B | IPC B  G

Claim 16:
17. A method comprising:
recording a field of view with a sensor of an autonomous vehicle;
determining whether each cell of a plurality of cells in the field of view are occluded by setting an occlusion probability for each cell based on a probabilistic model of the sensor field of view; and
determining a drivability of the autonomous vehicle based on the occlusion probability;
wherein setting the occlusion probability comprises mr,ck=1−(1−sr,c)(1−mr,ck-1), where mr,ck represents the occlusion probability of map m of the cell at column c and row r for iteration k and sr,c represents the scan cell detection probability of the cell at column c and row r.