Dynamic perception zone estimation

A method of obstacle avoidance for an off-road vehicle, comprising:

• receiving a first parameter associated with a characteristic of the off-road vehicle;
• receiving a second parameter associated with a characteristic of an environment of the off-road vehicle;
• generating, based on the first and second parameters, a perception zone for the off-road vehicle;
• controlling the off-road vehicle to avoid an obstacle using the perception zone;
• receiving an indication of a change in at least one of the first parameter or the second parameter;
• and
• updating the perception zone based on the change in the at least one of the first parameter or the second parameter and an indication of an accuracy of a sensor associated with the off-road vehicle, and a confidence level associated with one or more components of the off-road vehicle, wherein the confidence level is based on lifetime parameters of the one or more components.

A non-transitory computer-readable storage medium having instructions stored thereon that, when executed by a processor, cause the processor to:

• receive a first parameter associated with a characteristic of an off-road vehicle;
• receive a second parameter associated with a characteristic of an environment of the off-road vehicle;
• generate, based on the first and second parameters, a perception zone for the off-road vehicle;
• control the off-road vehicle to avoid an obstacle using the perception zone;
• receive an indication of a change in at least one of the first parameter or the second parameter;
• and
• update the perception zone based on the change in the at least one of the first parameter or the second parameter, an indication of an accuracy of a sensor associated with the off-road vehicle, and a confidence level associated with one or more components of the off-road vehicle, wherein the confidence level is based on lifetime parameters of the one or more components.