ADS PERCEPTION SYSTEM PERCEIVED FREE-SPACE VERIFICATION

The present disclosure relates to a method performed by a free-space verification system (1) for supporting and/or providing confidence in that a perception system (22) of an ADS (21) of a vehicle (2) detects presence of objects. The free-space verification system obtains (1001) sensor data (230) of vehicle surroundings with support from vehicle-mounted surrounding detecting sensors (23); generates (1002) perception data (220) of vehicle surroundings based on fusing the sensor data with support from the perception system; determines (1003) that the perception system based on the perception data perceives at least a first zone (31) in the vehicle surroundings, free from objects; evaluates for one or more of the surrounding detecting sensors their respective obtained sensor data (2310, 23n0) separately, to encounter potential sensor-specific detections in an at least first extended zone (311) at least partly encompassing the at least first zone; and determines (1005) when respective potential sensor-specific detections within the at least first extended zone for a predeterminable number of and/or combination of the surrounding detecting sensors, comply with at least a first free-space verifying criterium, that the at least first zone is verified as object-free.The disclosure also relates to a free-space verification system in accordance with the foregoing, a vehicle comprising such a free-space verification system, and a respective corresponding computer program product and non-volatile computer readable storage medium.