Navigation system and method for discreet routing

A system for determining a route for a subject vehicle, the system comprising:

• at least one interface configured to receive data;
• a memory in communication with the at least one interface;
• and
• a processor in communication with the at least one interface and the memory, wherein the processor, wherein the processor includes a field-of-view (FOV) determination module and a route determination module and is configured to:
• receive from at least one sensor a first observer location of a first observer and a second observer location of a second observer;
• determine, by the FOV determination module of the processor, a plurality of grid squares in a target area including the first observer location, the second observer location, a subject vehicle initial location, and a subject vehicle destination location;
• obtain, by the FOV determination module, elevation data for the target area;
• apply, by the FOV determination module, the elevation data to the plurality of grid squares within the target area;
• determine, by a FOV determination module, a first observer FOV for the first observer and a second observer FOV for the second observer,
• the first observer FOV and the second observer FOV both based on the elevation data,
• the first observer FOV including one or more of the plurality of grid squares that are visible from the first observer location,
• the second observer FOV including one or more of the plurality of grid squares that are visible from the second observer location;
• combine the first observer FOV with the second observer FOV and subtract a portion of the first observer FOV that overlaps with the second observer FOV to generate a combined FOV;
• determine, by the route determination module, a route for the subject vehicle,
• the route traversing from the subject vehicle initial location to the subject vehicle destination location, wherein determining the route includes minimizing an amount of the route being within the combined FOV;
• and
• display the route for the subject vehicle via an interface, wherein the interface includes a display inside the subject vehicle.

One or more non-transitory computer readable storage media encoded with instructions that, when executed by a processor of a system for determining a route for a subject vehicle, causes the processor to:

• obtain, by at least one sensor, a first observer location of a first observer and a second observer location of a second observer;
• determine, by a field-of-view FOV determination module of the processor, a plurality of grid squares in a target area including the first observer location, the second observer location, a subject vehicle initial location, and a subject vehicle destination location;
• obtain, by the FOV determination module, elevation data for the target area;
• apply, by the FOV determination module, the elevation data to the plurality of grid squares within the target area;
• determine, by a FOV determination module, a first observer FOV for the first observer and a second observer FOV for the second observer,
• the first observer FOV and the second observer FOV both based on the elevation data,
• the first observer FOV including one or more of the plurality of grid squares that are visible from the first observer location,
• the second observer FOV including one or more of the plurality of grid squares that are visible from the second observer location;
• combine the first observer FOV with the second observer FOV and subtract a portion of the first observer FOV that overlaps with the second observer FOV to generate a combined FOV;
• determine, by a route determination module of the processor, a route for the subject vehicle,
• the route traversing from the subject vehicle initial location to the subject vehicle destination location, wherein determining the route includes minimizing an amount of the route being within the combined FOV;
• and
• display the route for the subject vehicle via an interface, wherein the interface includes a display inside the subject vehicle.