Abstract: A method determines a blockage of a sensor of a plurality of sensors of an ego vehicle. The method determines a prior blockage probability of the sensor of the plurality of sensors; receives sensor data of the sensor of the plurality of sensors; determines a performance of the sensor based on the received sensor data; calculates a posterior blockage probability based on the prior blockage probability of the sensor and the performance of the sensor; and determines the blockage of the sensors using the calculated posterior blockage probability.

Abstract: A method determines a blockage of a sensor of a plurality of sensors of an ego vehicle. The method determines a prior blockage probability of the sensor of the plurality of sensors; receives sensor data of the sensor of the plurality of sensors; determines a performance of the sensor based on the received sensor data; calculates a posterior blockage probability based on the prior blockage probability of the sensor and the performance of the sensor; and determines the blockage of the sensors using the calculated posterior blockage probability.

Abstract: A method for determining a collective maneuver of at least two vehicles includes receiving a state of a first vehicle and a state of at least one further vehicle in an environment of an ego vehicle, and determining a current formation for the first vehicle and the at least one further vehicle on the basis of the received state of the first vehicle and the received state of the at least one further vehicle in the environment of the ego vehicle, the current formation comprising a relative arrangement of the first vehicle and of the at least one further vehicle with respect to a roadway. The method also includes determining a set of collective maneuvers on the basis of the current formation, where each collective maneuver of the set of collective maneuvers comprising a sequence of formations from the current formation to an end formation.