A processor-implemented method for generating a single predicted occupancy grid map for an autonomous vehicle, the method comprising: receiving a set of predicted occupancy grid maps (410a, 410b, 410c), OGMs, the set of predicted OGMs (410a, 410b, 410c) including a current predicted OGM and one or more future predicted OGMs, the current OGM associated with a current timestamp and each future predicted OGM associated with a future timestamp; characterized by: generating a weight map (353, 415a, 415b, 415c) associated with the current timestamp based on one or more kinodynamic parameters of the vehicle at the current time stamp, and one or more weight maps (353, 415a, 415b, 415c) associated with a future timestamp based on one or more kinodynamic parameters of the vehicle at the respective future timestamp; generating a set of filtered predicted OGMs (420a, 420b, 420c; 670a, 670b, 670c; 715a, 715b, 715c; 825a, 825b, 825c; 915a, 915b, 915c) by filtering the current predicted OGM (410a, 410b, 410c) with the weight map (353, 415a, 415b, 415c) associated the current timestamp and filtering each respective future predicted OGM (410a, 410b, 410c) associated with a future timestamp with the weight map (353, 415a, 415b, 415c) associated with the respective future timestamp; and sending a single predicted OGM (450, 650, 750, 760) representative of the set of filtered predicted OGMs (420a, 420b, 420c; 670a, 670b, 670c; 715a, 715b, 715c; 825a, 825b, 825c; 915a, 915b, 915c) to a trajectory generator, the single predicted OGM (450, 650, 750, 760) generated by combining the filtered predicted OGMs (420a, 420b, 420c; 670a, 670b, 670c; 715a, 715b, 715c; 825a, 825b, 825c; 915a, 915b, 915c) in the set of filtered OGMs. receiving a set of predicted occupancy grid maps (410a, 410b, 410c), OGMs, the set of predicted OGMs (410a, 410b, 410c) including a current predicted OGM and one or more future predicted OGMs, the current OGM associated with a current timestamp and each future predicted OGM associated with a future timestamp; characterized by: generating a weight map (353, 415a, 415b, 415c) associated with the current timestamp based on one or more kinodynamic parameters of the vehicle at the current time stamp, and one or more weight maps (353, 415a, 415b, 415c) associated with a future timestamp based on one or more kinodynamic parameters of the vehicle at the respective future timestamp; generating a set of filtered predicted OGMs (420a, 420b, 420c; 670a, 670b, 670c; 715a, 715b, 715c; 825a, 825b, 825c; 915a, 915b, 915c) by filtering the current predicted OGM (410a, 410b, 410c) with the weight map (353, 415a, 415b, 415c) associated the current timestamp and filtering each respective future predicted OGM (410a, 410b, 410c) associated with a future timestamp with the weight map (353, 415a, 415b, 415c) associated with the respective future timestamp; and sending a single predicted OGM (450, 650, 750, 760) representative of the set of filtered predicted OGMs (420a, 420b, 420c; 670a, 670b, 670c; 715a, 715b, 715c; 825a, 825b, 825c; 915a, 915b, 915c) to a trajectory generator, the single predicted OGM (450, 650, 750, 760) generated by combining the filtered predicted OGMs (420a, 420b, 420c; 670a, 670b, 670c; 715a, 715b, 715c; 825a, 825b, 825c; 915a, 915b, 915c) in the set of filtered OGMs. generating a weight map (353, 415a, 415b, 415c) associated with the current timestamp based on one or more kinodynamic parameters of the vehicle at the current time stamp, and one or more weight maps (353, 415a, 415b, 415c) associated with a future timestamp based on one or more kinodynamic parameters of the vehicle at the respective future timestamp; generating a set of filtered predicted OGMs (420a, 420b, 420c; 670a, 670b, 670c; 715a, 715b, 715c; 825a, 825b, 825c; 915a, 915b, 915c) by filtering the current predicted OGM (410a, 410b, 410c) with the weight map (353, 415a, 415b, 415c) associated the current timestamp and filtering each respective future predicted OGM (410a, 410b, 410c) associated with a future timestamp with the weight map (353, 415a, 415b, 415c) associated with the respective future timestamp; and sending a single predicted OGM (450, 650, 750, 760) representative of the set of filtered predicted OGMs (420a, 420b, 420c; 670a, 670b, 670c; 715a, 715b, 715c; 825a, 825b, 825c; 915a, 915b, 915c) to a trajectory generator, the single predicted OGM (450, 650, 750, 760) generated by combining the filtered predicted OGMs (420a, 420b, 420c; 670a, 670b, 670c; 715a, 715b, 715c; 825a, 825b, 825c; 915a, 915b, 915c) in the set of filtered OGMs.