Collision avoidance perception system

One or more non transitory computer readable media storing instructions executable by one or more processors, wherein the instructions, when executed, cause a system to perform operations comprising:

• receiving, from a first sensor device, first sensor data;
• receiving, from a second sensor device that is different than the first sensor device, second sensor data, the second sensor data differing from the first sensor data;
• determining, based at least in part on the first sensor data, a first predicted occupancy map indicative of a first likelihood that a portion of an environment is occupied;
• determining, based at least in part on the second sensor data, a second predicted occupancy map indicative of a second likelihood that the portion of the environment is occupied;
• and
• determining, based at least in part on a first aggregating technique, the first predicted occupancy map, and the second predicted occupancy map, a first data structure indicating whether the portion of the environment is occupied or unoccupied;
• combining, based at least in part on a second aggregating technique that is different than the first aggregating technique, the first predicted occupancy map and the second predicted occupancy map into a second data structure;
• and
• controlling an autonomous vehicle based at least in part on the first data structure and the second data structure.

A method comprising:

• receiving, from a first sensor device, first sensor data;
• receiving, from a second sensor device that is different than the first sensor device, second sensor data, the second sensor data differing from the first sensor data;
• determining, based at least in part on the first sensor data, a first predicted occupancy map indicative of a first likelihood that a portion of an environment is occupied;
• determining, based at least in part on the second sensor data, a second predicted occupancy map indicative of second likelihood that the portion of the environment is occupied;
• and
• determining, based at least in part on a first aggregating technique, the first predicted occupancy map, and the second predicted occupancy map, a first data structure indicating whether the portion of the environment is occupied or unoccupied;
• combining, based at least in part on a second aggregating technique that is different than the first aggregating technique, the first predicted occupancy map and the second predicted occupancy map into a second data structure;
• and
• controlling an autonomous vehicle based at least in part on the first data structure and the second data structure.