METHODS AND SYSTEMS FOR PREDICTING PROPERTIES OF A PLURALITY OF OBJECTS IN A VICINITY OF A VEHICLE

A computer implemented method for predicting properties of a plurality of objects in a vicinity of a vehicle comprises the following steps carried out by computer hardware components: determining a grid map representation of road users perception data, the road users perception data comprising tracked perception results and/ or untracked sensor intermediate detections; determining a grid map representation of static environment data based on data obtained from a perception system and/or a pre-determined map; and determining the properties of the plurality of objects based on the grid map representation of road users perception data and the grid map representation of static environment data.