Evidence Grid for Vehicle Navigation

An evidence grid is established in a map frame based on the vehicle's pose. Hazard data is accumulated in the evidence grid by gathering visible grid cells, each associated with a visibility probability indicating a history of visibility determinations, and accumulating hazard presence, with each grid cell linked to a hazard associated with a hazard presence probability indicating a history of hazard presence determinations. The accumulated hazard data is then provided to a process within the autonomous vehicle for further decision-making or risk mitigation.