Using static grid map to cross-check dynamic objects

A method for operating an autonomous vehicle, the method comprising:

• outputting, with a sensor, sensor data representative of a detected dynamic object;
• receiving, with an electronic processor, a static occupancy grid, the static occupancy grid including a plurality of cells, a subset of the cells storing occupancy information and occupancy probabilities associated with a static object in the environment;
• generating a dynamic object list, the dynamic object list including dynamic object information associated with the detected dynamic object and a respective position of the detected dynamic object in the environment;
• superimposing a representation of the detected dynamic object on the static occupancy grid based on the dynamic object information;
• generating a dynamic object perimeter based on a shape of the detected dynamic object as superimposed on the static occupancy grid;
• determining, based on the dynamic object perimeter, an overlap of the detected dynamic object and the static object represented in the static occupancy grid;
• determining a dynamic object existence probability associated with the detected dynamic object based at least on the overlap;
• classifying the detected dynamic object as a ghost dynamic object in response to determining the dynamic object existence probability is less than a threshold;
• and
• controlling vehicle motion based on the classification of the detected dynamic object as a ghost dynamic object.