OCCUPANCY GRID CALIBRATION

A computer-implemented method and system for calibrating an occupancy grid mapping a vehicle environment are disclosed. The method comprises identifying a feature of an occupancy grid mapping a vehicle environment, wherein the occupancy grid provides a primary representation of the feature; determining a quality level of the primary representation of the feature; determining if the quality level satisfies a quality criterion; and adjusting a calibration of the occupancy grid if the quality level fails to satisfy the quality criterion, wherein adjusting a calibration of the occupancy grid comprises adjusting at least one parameter used to generate the occupancy grid to cause the quality level to satisfy the quality threshold.