{
  "$type": "site.standard.document",
  "description": "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…",
  "path": "/patents/1378384",
  "publishedAt": "2026-02-05T00:00:00.000Z",
  "site": "at://did:plc:oql6ds5vnff4ugar6rruliwd/site.standard.publication/3mn3ohu7oxx5w",
  "tags": [
    "B60W60/0015",
    "Nissan North America, Inc."
  ],
  "textContent": "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.",
  "title": "Evidence Grid for Vehicle Navigation"
}