REVEALED OBJECT DETECTION

A system for monitoring a vehicle environment includes a perception system in communication with a vehicle sensor, the perception system configured to receive perception data from the vehicle sensor. The system also includes a scenario detection module configured to detect a first object based on the perception data, and analyze a behavior of the first object to predict whether a reveal scenario is occurring or is to occur, where an obstructed object is revealed in the reveal scenario. The system further includes a control module configured to, based on detection of the obstructed object as a revealed object, perform at least one of controlling a vehicle to respond to the obstructed object, and presenting information regarding the obstructed object to a user.