Vehicle operation using a dynamic occupancy grid

A method comprising:

• receiving sensor data from one or more sensors of a vehicle, the sensor data having a latency;
• executing a cyclic redundancy check on the sensor data in response to determining that the latency is less than a threshold latency;
• determining an occupancy probability for each grid cell of a dynamic occupancy grid (DOG) using an inverse sensor model of the one or more sensors based on the sensor data in response to determining that the sensor data passes the cyclic redundancy check, the occupancy probability denoting whether a portion of an environment in which the vehicle is operating is occupied by an object;
• determining a particle density function based on the occupancy probability using a kinetic function;
• and
• transmitting a deceleration request to a control circuit of the vehicle in response to determining that the particle density function indicates that a time to collision (TTC) between the vehicle and the object is less than a threshold TTC.

A system, comprising:

• at least one processor, and
• at least one non-transitory storage media storing instructions that, when executed by the at least one processor, cause the at least one processor to:
• receive sensor data from one or more sensors of a vehicle, the sensor data having a latency;
• execute a cyclic redundancy check on the sensor data in response to determining that the latency is less than a threshold latency;
• determine an occupancy probability for each grid cell of a dynamic occupancy grid (DOG) using an inverse sensor model of the one or more sensors based on the sensor data in response to determining that the sensor data passes the cyclic redundancy check, the occupancy probability denoting whether a portion of an environment in which the vehicle is operating is occupied by an object;
• determine a particle density function based on the occupancy probability using a kinetic function;
• and
• transmit a deceleration request to a control circuit of the vehicle in response to determining that the particle density function indicates that a time to collision (TTC) between the vehicle and the object is less than a threshold TTC.

At least one non-transitory storage media storing instructions that, when executed by at least one processor, cause the at least one processor to:

• receive sensor data from one or more sensors of a vehicle, the sensor data having a latency;
• execute a cyclic redundancy check on the sensor data in response to determining that the latency is less than a threshold latency;
• determine an occupancy probability for each grid cell of a dynamic occupancy grid (DOG) using an inverse sensor model of the one or more sensors based on the sensor data in response to determining that the sensor data passes the cyclic redundancy check, the occupancy probability denoting whether a portion of an environment in which the vehicle is operating is occupied by an object;
• determine a particle density function based on the occupancy probability using a kinetic function;
• and
• transmit a deceleration request to a control circuit of the vehicle in response to determining that the particle density function indicates that a time to collision (TTC) between the vehicle and the object is less than a threshold TTC.