SENSOR PLUGIN ARCHITECTURE FOR GRID MAP

Systems and methods for controlling an autonomous vehicle. One system includes an electronic processor and a memory configured to store a multi-layer grid and a multi-instanceable sensor plugin. The multi-layer grid includes information associated with positions in the environment. A plurality of sensors are configured to output sensor information. The electronic processor is configured to, for each of the plurality of sensors, determine a modality of the sensor and generate an instance of the sensor plugin based on the modality. The electronic processor receives, processes, and determines a plausibility of the sensor information. In response to determining that the sensor information is plausible, the electronic processor integrates the sensor information to the multi-layer grid. The electronic processor controls vehicle movement based on the multi-layer grid.