Stationary object detection

A non-transitory computer-readable storage medium storing one or more programs configured to be executed by one or more processors of a vehicle control system, the one or more programs comprising instructions for performing a comprising:

• receiving sensor signal data comprising stationary and non-stationary detections from a surrounding environment of the ego-vehicle;
• determining at least one group of stationary detections which meet one or more lateral position selection criteria based on the lateral position of each stationary detection from a direction faced by the ego-vehicle;
• determining at least one group of stationary detections which meet one or more group regularity selection criteria based on the regularity of the differences in position between pairs of sequentially positioned stationary detections in the group in the direction faced by the ego vehicle;
• determining one or more groups of stationary detections which meet the lateral selection criteria and the group regularity selection criteria for being a group of stationary detections corresponding to at least one stationary object;
• and
• removing the stationary detections in corresponding to at least one pre-determined type of stationary object from the sensor signal data output to one or more data processing components of the control system.