USE OF HIGH DENSITY MAP IN OCCUPANCY GRID

Systems and methods for controlling an autonomous vehicle. One system includes an electronic processor and a memory configured to store an occupancy grid map. The occupancy grid map includes a set of cells associated with respective positions in an environment. A sensor is configured to output sensed occupancy information associated with positions in the environment. The electronic processor is configured to determine a position of the autonomous vehicle within the environment, and receive, from a server, a high density map. The high density map contains occupancy information. The electronic processor initializes the cells with occupancy information based on the high density map. The electronic processor confirms, based on the sensed occupancy information, a state of the set of the cells of the occupancy grid map, and controls vehicle movement based on the occupancy grid map.