Detection and Mitigation of Slow Crossing Hazards for Autonomous Vehicles

A method includes obtaining a risk field comprising an evidence grid established in a map frame associated with an autonomous vehicle and obtaining a reference path associated with the autonomous vehicle. The reference path is based on a drive plan and driveline data. The method includes accumulating slow crossing hazard (SCH) data in the evidence grid by performing at least one of a boundary intrusion detection procedure, an object intrusion detection procedure, or a lead vehicle hazard detection procedure. The SCH data is provided to a process within an autonomous vehicle for further decision-making or risk mitigation.