Consideration of risks in active sensing for an autonomous vehicle

A system comprising:

• a plurality of sensors coupled to a first vehicle, wherein the plurality of sensors include a first sensor;
• and
• a computing system coupled to the first vehicle, wherein the computing system is configured to:
• determine, based on sensor data from one or more sensors of the plurality of sensors, a second vehicle is at least partially blocking a field of view of the first sensor coupled to the first vehicle;
• determine a control action for the first vehicle to perform based on determining the second vehicle is at least partially blocking the field of view of the first sensor;
• and
• based on determining that a risk cost associated with the first vehicle performing the control action is less than a threshold risk cost, control the first vehicle according to the control action.

A non-transitory computer-readable medium comprising program instructions executable by a computing system to cause the computing system to perform operations comprising:

• determining, based on sensor data from one or more sensors coupled to a first vehicle, a second vehicle is at least partially blocking a field of view of a first sensor coupled to the first vehicle;
• determining a control action for the first vehicle to perform based on determining the second vehicle is at least partially blocking the field of view of the first sensor;
• and
• based on determining that a risk cost associated with the first vehicle performing the control action is less than a threshold risk cost, controlling the first vehicle according to the control action.