Use of Bayesian Network for Detecting Sensor Blockage

Abstract

A method for generating a Bayesian network configured to detect blockage of a plurality of sensors of a vehicle. The method includes setting a set of a priori probabilities comprising: an a priori probability that a target exists in the field of view of the sensors; for each sensor, an a priori probability that the sensor is blocked; and for each sensor, an a priori probability that the sensor is not blocked. The method further sets conditional probabilities covering all combinations of blocked/unblocked sensor and presence/absence of the target in the sensor’s field of view, and generates the Bayesian network from these priors and conditionals.

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